Robot to Robot Handover (Team 8)

ROBOT 6200 / CS 6370 Motion Planning, 2025 Spring

In this project, we aim to develop a system in which two robotic arms collaborate to pass an object from one to another efficiently and safely. The objective is to focus on two main aspects: grasp strategy and motion planning.

Docs

• Proposal: Overleaf.

Requirements

python
...

Files

.
├── README.md
├── env.txt
├── R2R.ttt
├── run.py
├── vrep.py
├── collisions.py
├── rrt.py
├── prm.py
└── robot_motion.gif

Usage

python run.py [options]

Options

Option	Description
-h, --help	Show this help message and exit.
--method METHOD	Method to use. (Default: rrt, Options: rrt, prm)
--problem PROBLEM	Path to the environment file. (Default: env.txt, Options: env.txt, vrep)
--connect	Use RRT-Connect.
--bidirection	Use Bidirectional RRT-Connect.
--star	Use RRT*.
--num_samples NUM_SAMPLES	Number of samples to use in the RRT. (Default: 5000)
--step_length STEP_LENGTH	Step length to use in the RRT.
--connect_prob CONNECT_PROB	Connection probability for RRT-Connect. (Default: 0.05)
--local_planner LOCAL_PLANNER	Local planner for PRM. (Default: line, Options: line, rrt)
--radius RADIUS	Radius used in PRM for connection. (Default: 2.0)

Examples

1. Check options:

   $ python run.py --help

2. Run on 2D Plannar:

   $ python run.py --problem env.txt
   $ python run.py --problem vrep

3. Run on 3D Coppeliasim:

   1. Start Coppeliasim.
   2. File > Open Scence. R2R2.ttt
   3. Run model.

  $ python run.py --problem vrep

Collaborator

• Seongil Heo
  • Computer Science
  • u1527760@utah.edu
• Jesse Jenkins
  • Computer Science and Computer Engineering
  • u1355879@utah.edu
• Cameron Monson
  • Mechanical Engineering
  • u1356158@utah.edu
• Corbin Gurnee
  • Computer Science
  • u1261969@utah.edu