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This package contains the code that runs in realtime to move the mechanisms on the robot. These controllers are not specific to mechanisms on the PR2 and may be useful on other robots.


The controllers in this package should not be used directly. The controllers should instead by used via their action interfaces, e.g., joint_trajectory_action, pr2_gripper_action, pr2_head_action, and single_joint_position_action.

2024-07-13 13:21