Shallow insertion

• shallow_insertion.m is a matlab script to simulate inserting a card into a shallow hole.
• moveit_shallow_insertion.py is a python script to operate a UR10 for the insertion task.

Software prerequisites

• shallow_insertion.m
  • Matlab
• moveit_shallow_insertion.py
  • Ubuntu 16.04
  • ROS Kinetic
  • Moveit

How to run it

• shallow_insertion.m
  • Open shallow_insertion.m file with matlab, click 'Run' button or enter 'Ctrl+Enter' to run the code, then you will see an insertion animation.
• moveit_shallow_insertion.py
  • rosrun moveit_tutorials moveit_shallow_insertion.py

Result

• shallow_insertion.m
  •