Planar Gripper Example

This directory contains an example for simulating a planar-gripper (three two-degree-of-freedom fingers moving in a plane) which reorients a brick through contact interactions.

Prerequisites

All instructions assume that you are launching from the drake workspace directory.

cd drake

Open a visualizer window

bazel run //tools:meldis -- --open-window &

Build the example in this directory

bazel build //examples/planar_gripper/...

Example

Run Trajectory Publisher

bazel-bin/examples/planar_gripper/run_planar_gripper_trajectory_publisher

Sends desired joint positions over LCM. Requires a suitable LCM based simulator (such as the example in this directory) listening for lcmt_planar_gripper_command messages and publishing lcmt_planar_gripper_status messages. If successful, the program will display Waiting for first lcmt_planar_gripper_status, indicating it is waiting for the simulation to start publishing status messages.

Simulation

Run the following example of an (LCM based) simulation of a planar-gripper:

bazel-bin/examples/planar_gripper/planar_gripper_simulation

This simulates a planar-gripper with a position-based inverse dynamics controller (by default), communicating via LCM.