Package Summary
Core functionality to get equilibrium point control (EPC) running on a robot. In addition to robot-agnostic code for EPC, this package also implements Python classes for two different robots (the PR2 and Cody). Controlling a robot using EPC requires you to write a class that implements the same functions.
- Author: Advait Jain, Advisor: Prof. Charlie Kemp. (Healthcare Robotics Lab, Georgia Tech)
- License: New BSD
- Repository: gt-ros-pkg
- Source: svn http://gt-ros-pkg.googlecode.com/svn/trunk/hrl/equilibrium_point_control/epc_core
Code Organization
The code is organized in three separate directories within the src/ directory:
epc_core: robot-agnostic code defining the core EPC function and a few simple examples.
pr2_arms: Python code to control the PR2 as well as perform kinematic computations using KDL.
cody_arms: Python code to control Meka arms on the robot Cody in the Healthcare Robotics Lab, Georgia Tech.
Running on a PR2
To move the right arm to its home position (zero joint angles):
$ roscd epc_core/src/epc_core $ python epc.py