Code Organization

The code is organized in three separate directories within the src/ directory:

1. epc_core: robot-agnostic code defining the core EPC function and a few simple examples.

2. pr2_arms: Python code to control the PR2 as well as perform kinematic computations using KDL.

3. 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