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Contents
Running
rosrun pr2_keyboard_teleoperator pr2_keyboard_teleoperator.py
Usage
The keyboard interface is as follows:
Moving the Base: (uses the number pad)
7 8 9 4 5 6 1 2 3
Moving the Arm's Joints:
- Shoulder pan joint: e/d
- Shoulder lift joint: r/f
- Upper arm roll joint: t/g
- Elbow flex joint: y/h
- Forearm roll joint: u/j
- Wrist flex joint: i/k
- Wrist roll joint: o/l
Moving The Head:
- Panning: v/b
- Tilting: n/m
Moving The Torso:
- Lower/Raise: ,/.
Using the gripper:
- Open/Close (current arm): c
Parameters:
- Switching between arms: z/x
- Increasing/Decreasing delta (in radians): q/a