NxRLab · dsosa114 · Mar 19, 2021 · Apr 5, 2021
diff --git a/V-REP_scenes-Nov2019.zip b/V-REP_scenes-Nov2019.zip
diff --git a/V-REP_scenes/README.txt b/V-REP_scenes/README.txt
@@ -0,0 +1,59 @@
+November 2019
+
+This folder contains V-REP simulation scenes associated with the book "Modern Robotics:  Mechanics, Planning, and Control," Kevin Lynch and Frank Park, Cambridge University Press, 2017.
+
+To learn more about the book, the associated software, V-REP simulation, book videos, Coursera courses, etc., see
+
+http://modernrobotics.org
+
+For a more detailed description of the V-REP demonstration scenes, see
+
+http://hades.mech.northwestern.edu/index.php/V-REP_Introduction
+
+=====
+
+Below is a brief description of the files.  The V-REP scenes all end in .ttt.
+
+Scene1_UR5.ttt:  V-REP scene for interactive manipulation of the UR5 six-joint robot.
+
+Scene2_UR5_csv.ttt:  V-REP scene that animates the UR5 to follow a path specified in a file.
+
+Scene2_example.csv:  An example input file for Scene2_UR5_csv.ttt.
+
+Scene3_youBot.ttt:  V-REP scene for interactive manipulation of the youBot mobile manipulator, consisting of an omnidirectional mecanum-wheel mobile base and a five-joint robot arm.
+
+Scene4_youBot_csv.ttt:  V-REP scene that animates the youBot to follow  apath specified in a file.
+
+Scene4_example.csv:  An example input file for Scene4_youBot_csv.ttt.
+
+Scene4_base_motions:  A folder containing input files for Scene4_youBot_csv.ttt that only move the mobile base, to demonstrate the motion of the mecanum wheels when the mobile base undergoes certain basic motions:
+  yb1.csv:  Mobile base spins in place at constant speed.
+  yb2.csv:  Mobile base moves forward at constant speed.
+  yb3.csv:  Mobile base moves sideways at constant speed.
+  yb4.csv:  Mobile base moves diagonally at constant speed.
+  yb5.csv:  Mobile base moves along another diagonal at constant speed.
+
+Scene5_motion_planning.ttt:  V-REP scene that animates a planar mobile robot moving along a graph representation of a cluttered planar C-space.
+
+Scene5_example:  A folder containing example input files needed by Scene5_motion_planning.ttt:
+  nodes.csv:  The nodes in the graph.
+  edges.csv:  The edges in the graph.
+  path.csv:  The solution path.
+  obstacles.csv:  The circular obstacles.
+
+Scene6_youBot_cube.ttt:  V-REP scene animating solutions to the youBot manipulating a cube.
+
+Scene6_example.csv:  An example input file for Scene6_youBot_cube.ttt.
+
+Scene7_MTB_csv.ttt:  V-REP scene that animates a path for a four-joint RRPR robot.
+
+Scene7_example.csv:  An example input file for Scene7_MTB_csv.ttt.
+
+Scene8_gripper_csv.ttt:  V-REP scene that animates a path for the end-effector (gripper) of the youBot.  This is used to verify youBot end-effector reference trajectories without requiring the full motion of the youBot.
+
+Scene8_example.csv:  An example input file for Scene8_gripper_csv.ttt.
+
+=====
+
+Authors:
+Huan Weng, Jarvis Schultz, and Kevin Lynch
diff --git a/V-REP_scenes/Scene1_UR5.ttt b/V-REP_scenes/Scene1_UR5.ttt
diff --git a/V-REP_scenes/Scene2_UR5_csv.ttt b/V-REP_scenes/Scene2_UR5_csv.ttt
diff --git a/V-REP_scenes/Scene2_example.csv b/V-REP_scenes/Scene2_example.csv
@@ -0,0 +1,206 @@
+# 6-DOF UR5 robot arm csv file for V-REP animation.
+# All lines beginning with # are treated as a comment and ignored.
+# Each line below is of the form
+# jt1ang, jt2ang, jt3ang, jt4ang, jt5ang, jt6ang
+# where each joint angle is expressed in radians.
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diff --git a/V-REP_scenes/Scene3_youBot.ttt b/V-REP_scenes/Scene3_youBot.ttt