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

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A task planning software for trilateral tasks using da Vinci Research Kit robotic surgery platform, ROS, OMPL, and Coppelia sim

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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

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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)