GitHub - Abeilles14/dvrk_pickandplace_OMPL: A task planning software for trilateral tasks using da Vinci Research Kit robotic surgery platform, ROS, OMPL, and Coppelia sim

Branches Tags

Name		Name	Last commit message	Last commit date
Latest commit History 107 Commits
.ipynb_checkpoints		.ipynb_checkpoints
launch		launch
.gitignore		.gitignore
blue_ball.csv		blue_ball.csv
collisionDetection.ttt		collisionDetection.ttt
computingJointAnglesForRandomPoses.ttt		computingJointAnglesForRandomPoses.ttt
console-full-cart-simulated.json		console-full-cart-simulated.json
demo_pick_place.ttt		demo_pick_place.ttt
demo_pick_place_collision_detach_experiment.ttt		demo_pick_place_collision_detach_experiment.ttt
demo_pick_place_proximity_experiment.ttt		demo_pick_place_proximity_experiment.ttt
demo_pick_place_randomized_objects.ttt		demo_pick_place_randomized_objects.ttt
depth_image_encoding.py		depth_image_encoding.py
dvrk-console_full-cart-simulated.json		dvrk-console_full-cart-simulated.json
feature_processor.py		feature_processor.py
green_ball.csv		green_ball.csv
ikPathGeneration.ttt		ikPathGeneration.ttt
obstacleAvoidanceAndIk.ttt		obstacleAvoidanceAndIk.ttt
pController.py		pController.py
pap_1psm_CollisionFreeConfigs.ttt		pap_1psm_CollisionFreeConfigs.ttt
pap_1psm_IKJointConfigs.ttt		pap_1psm_IKJointConfigs.ttt
pap_1psm_IKPathGeneration.ttt		pap_1psm_IKPathGeneration.ttt
pap_1psm_OMPL_simplified.ttt		pap_1psm_OMPL_simplified.ttt
pap_psm_ompl_experiments.ipynb		pap_psm_ompl_experiments.ipynb
path_planning_and_grasping.ttt		path_planning_and_grasping.ttt
pick_and_place_arm_sm.py		pick_and_place_arm_sm.py
pick_and_place_dual_arm_sm.py		pick_and_place_dual_arm_sm.py
pick_and_place_experiments.ipynb		pick_and_place_experiments.ipynb
pick_and_place_experiments.py		pick_and_place_experiments.py
pick_and_place_experiments_new.ipynb		pick_and_place_experiments_new.ipynb
pick_and_place_hsm.py		pick_and_place_hsm.py
pick_and_place_sm_experiments.ipynb		pick_and_place_sm_experiments.ipynb
pick_and_place_three_arm_hsm.py		pick_and_place_three_arm_hsm.py
pick_and_place_three_arm_sm.py		pick_and_place_three_arm_sm.py
pick_and_place_utils.py		pick_and_place_utils.py
pick_place_3arm.ttt		pick_place_3arm.ttt
pick_place_3arm_OMPL.ttt		pick_place_3arm_OMPL.ttt
pick_place_3arm_new_cam.ttt		pick_place_3arm_new_cam.ttt
pick_place_final.ttt		pick_place_final.ttt
ply.py		ply.py
psm-large-needle-driver-new-limits.json		psm-large-needle-driver-new-limits.json
readMe.txt		readMe.txt
red_ball.csv		red_ball.csv
remoteApi.so		remoteApi.so
sawControllersPID-PSM1-new-limits.xml		sawControllersPID-PSM1-new-limits.xml
sawControllersPID-PSM2-new-limits.xml		sawControllersPID-PSM2-new-limits.xml
sawControllersPID-PSM3-new-limits.xml		sawControllersPID-PSM3-new-limits.xml
sendMovementSequence-mov.py		sendMovementSequence-mov.py
sendMovementSequence-pts.py		sendMovementSequence-pts.py
sendSimultan2MovementSequences-mov.py		sendSimultan2MovementSequences-mov.py
sim-scripting-intro.md		sim-scripting-intro.md
sim.py		sim.py
simConst.py		simConst.py
simpleSynchronousTest.py		simpleSynchronousTest.py
simpleTest.py		simpleTest.py
suj-simulated.json		suj-simulated.json
synchronousImageTransmission.py		synchronousImageTransmission.py
visualization.py		visualization.py
vrep.py		vrep.py
vrepConst.py		vrepConst.py

Repository files navigation

Make sure you have following files in your directory, in order to run the various examples:

1. sim.py
2. simConst.py
3. the appropriate remote API library: "remoteApi.dll" (Windows), "remoteApi.dylib" (Mac) or "remoteApi.so" (Linux)
4. simpleTest.py (or any other example file)