jaco_constants.h

#pragma once

namespace drake {
namespace manipulation {
namespace kinova_jaco {

/// The LCM system classes for the Jaco default to a 7dof model with 3
/// fingers.  Different configurations are supported by passing the
/// proper arguments to the system constructors.
constexpr int kJacoDefaultArmNumJoints = 7;
constexpr int kJacoDefaultArmNumFingers = 3;

/// The Jaco URDF models the fingers as having a single revolute joint, but
/// the SDK uses the motor position for the actuator driving the adaptive
/// fingers.  This doesn't really convert well, so we use a scaling factor to
/// approximate a reasonable behavior for simulation/visualization.
constexpr double kFingerSdkToUrdf = 1.34 / 118.68;
constexpr double kFingerUrdfToSdk = 1. / kFingerSdkToUrdf;

/// Kinova says 100Hz is the proper frequency for joint velocity
/// updates.  See
/// https://github.com/Kinovarobotics/kinova-ros#velocity-control-for-joint-space-and-cartesian-space
constexpr double kJacoLcmStatusPeriod = 0.010;

}  // namespace kinova_jaco
}  // namespace manipulation
}  // namespace drake