Code for Task-Driven Manipulation with Reconfigurable Parallel Robots - Daniel Morton, Mark Cutkosky, Marco Pavone
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
cd $HOME
git clone https://github.com/StanfordASL/reachbot_manipulation
cd $HOME/reachbot_manipulation
pip install -e .
To install MOSEK, in addition to the pip-install, you will also need a license. Academic licenses are easy to obtain here
The main methods introduced in the paper can be found in the optimization folder, and demos can be found in scripts