Contents
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
