State Machine Environments

We provide examples on hand-crafted state machines for the robotic surgery environments, demonstrating the execution of surgical subtasks.

Running the State Machine Environments

Drive the da Vinci Research Kit (dVRK) Patient Side Manipulator (PSM) to reach a desired pose:

python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/reach_psm_sm.py

Drive the dual-arm dVRK-PSM to reach a desired pose:

python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/reach_dual_psm_sm.py

Drive the STAR arm to reach a desired pose:

python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/reach_star_sm.py

Lift a suture needle to a desired pose:

python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/lift_needle_sm.py

Lift a suture needle from an organ to a desired pose in the operating room:

python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/lift_needle_organs_sm.py

Lift a peg block to a desired pose:

python workflows/robotic_surgery/scripts/simulation/scripts/environments/state_machine/lift_block_sm.py