peg-in-hole

Catherine Ray and Gregory Colella (mentor: Roxana Leontie)
George Washington University, Robotics Lab: Positronics Division
Human-Computer Interaction Intern Project, Summer 2012

Program for PR2 using ROS stacks and Python. PR2 completes a task moving a dowel into a hole (using only force proprioception) as a response to dynamic stimuli.

After downloading the ROS stacks and this package, the following commands will execute the autonomous task completion in gazebo:

  roslaunch pr2_gazebo pr2_empty_world.launch 
  roslaunch pr2_3dnav both_arms_navigation.launch
  rosservice call /environment_server/set_planning_scene_diff '{}'
  rosrun peg_in_hole DiagExecute.py

Name		Name	Last commit message	Last commit date
Latest commit History 4 Commits
Other Code		Other Code
build		build
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
DiagConsole.py		DiagConsole.py
DiagExecute.py		DiagExecute.py
Makefile		Makefile
README.md		README.md
accept_dowel.py		accept_dowel.py
arm_controller.py		arm_controller.py
assume_start.py		assume_start.py
cmd_apiv2.py		cmd_apiv2.py
learn.py		learn.py
mainpage.dox		mainpage.dox
manifest.xml		manifest.xml
msg_params.py		msg_params.py
perform.py		perform.py
pih_MASTER.py		pih_MASTER.py
playback.py		playback.py
playback_fixed.py		playback_fixed.py
record.py		record.py
seek_hole.py		seek_hole.py
start.py		start.py
state_api.py		state_api.py
staterecording.py		staterecording.py
test_accept_dowel.py		test_accept_dowel.py

catherineray/PR2-positronics

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