Manipulation with Reachbot

Code for Task-Driven Manipulation with Reconfigurable Parallel Robots - Daniel Morton, Mark Cutkosky, Marco Pavone

Getting started:

Virtual Environment

A virtual environment is optional, but highly recommended. I prefer pyenv to conda - for pyenv installation instructions, see here.

# pyenv install 3.10.8 if not already installed
pyenv virtualenv 3.10.8 reachbot
pyenv shell reachbot

Clone the repo

cd $HOME
git clone https://github.com/StanfordASL/reachbot_manipulation

Install dependencies

cd $HOME/reachbot_manipulation
pip install -e .

Additional dependencies:

To install MOSEK, in addition to the pip-install, you will also need a license. Academic licenses are easy to obtain here

Usage

The main methods introduced in the paper can be found in the optimization folder, and demos can be found in scripts