• Plan motions/movements for the Puma robotic arm to move blocks to stack them in the desired order using python and openRave
• Implemented kinematic, inverse kinematics, biRRT, and data structure to find a set of collision-free movements of robotic arm
• Enabled the algorithm to find solution for any number of input blocks
cs5335_puma.py contains a code to simulate the program.
Command to run the file: python cs5335_puma.py
eg.: python cs5335_puma.py RGBAW cs5335_53.env.xml
All the xml files include environment details for openrave.
File names are given as cs5335_<NumberOfBlocks><config>.env.xml
NumberOfBlocks can be 3,4 or 5
Config :
1 : all the blocks are stacked in one column
2 : all the blocks are placed at different locations
3 : blocks are stacked in two columns
analysis1.py analysis2.py and analysis3.py runs the code for each configuration multiple times and returns the time taken to simulate the result in an csv file.