This repository contains the code for rehabilitation robotics from EECS106B final project. More details can be found on Rehabilitation Robotics。
Pykdl files are needed when running the self-designed controller. We used the independently supported directory sawyer_pykdl.
Record a trajectory:
$ rosrun intera_examples joint_recorder.py -f <position_file_name> -r 1
Repeat a trajectory:
$ python Predefined_Path_Guiding\pathplanner -m 0 0 0 1 1 1 -k 500 500 500 30 30 30 -ef -kn 0 0 0 0 0 0 0
Run the hybrid controller:
$ python Undefine_Motion\hybridcontroller.py