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build
.gitignore
CMakeLists.txt
DiagConsole.py
DiagExecute.py
Makefile
README.md
accept_dowel.py
arm_controller.py
assume_start.py
cmd_apiv2.py
learn.py
mainpage.dox
manifest.xml
msg_params.py
perform.py
pih_MASTER.py
playback.py
playback_fixed.py
record.py
seek_hole.py
start.py
state_api.py
staterecording.py
test_accept_dowel.py

README.md

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