karadalex / vrep-raven2

Simulation and control of Raven 2 surgical robot in V-REP

Raven 2 robot in V-REP

Simulation and control of Raven 2 surgical robot in V-REP.

The robot was imported to V-REP with the URDP import plugin using the Raven2 URDF provided from the raven_2 official repository

Project structure

• python: directory with python code to interact with Raven robot in V-REP via RemoteAPI or ROS
• vrep: directory with the V-REP scene and all objects' Lua scripts

V-REP Custom UI

Forward Kinematics

Inverse Kinematics