Hardware Requirements

To run this code, the PR2 must grasp a hook. At the Healthcare Robotics Lab, we 3D print a hook end effector and a tool adapter for the PR2 to grasp it. These can be downloaded from:

• Hook End Effector

• Tool Adapter

Running the Code

Steps to run the door opening code on a PR2:

1. Launch the Cartesian controller, node to estimate mechanism kinematics, and end effector forces.

   $ roslaunch epc_door_opening pr2_door_opening.launch 

2. Run the door opening equilibrium point controller

   $ roscd epc_door_opening/src/epc_door_opening/
   $ python door_epc.py

   and follow the on screen instructions.

Limitations

The code released within this package is identical in spirit to our previous implementation of door opening on the robot Cody, which we released in 2010_icra_epc_pull.

However, this package implements a subset of the functionality of 2010_icra_epc_pull, and has poorer performance in its current implementation. In particular:

• This package contains code to open a cabinet door or drawer once the robot is positioned in front of the mechanism. It does not address navigating up to the mechanism.
• The mobile base of the robot is kept stationary.

• The code has not been tested extensively as 2010_icra_epc_pull. For example, we do not know what the performance will be for different positions of the robot relative to the mechanism handle.

• We are using estimates of the force at the end effector (via the joint torques), instead of directly measuring the force using a force-torque sensor.
• The robot will fail to open mechanisms that require a large force to open (such as most refrigerators, spring loaded doors). We have tested it on two different cabinets.