arm7_peg_insertion — ROS 2 Package
Peg Insertion for the 7-DoF Arm — a buildable ROS 2 (ament) package. Captured/authored with 2D LiDAR in the loop and validated against real 7-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Demonstration clipfree preview
Left: real-world source footage. Right: a signal derived from it (inter-frame motion field or edge/feature map). Source & license are credited in the clip.
Preview
Free preview — no purchase requiredDeployment
CPU/GPU host deployment; 6GB VRAM (Jetson) required.
Frameworks
- OpenCVMuJoCoPyTorch
Hardware
- Raspberry Pi 5
Sensors
- 2D LiDARtactile array
Specs
- GPU: 6GB VRAM (Jetson)
- Size: 618 KB
- Duration: 10s
- Task success rate 82% over 451 trials
Tags
$9
Commercial license
arm7-peg-insertion-ros-2-package.zip · 618 KB
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