This is the respository for:
Visibility Maximization Controller for Robotic Manipulation
Requirements:
This work is built of both roboticstoolbox and swift.
You need to use our modified version of robotics toolbox. This has the fetch model as well as some math changes for robotics toolbox.
https://github.com/rhys-newbury/robotics-toolbox-python
You can also manually modify your installation of robotics toolbox, following the instructions inside the robotics_toolbox_changes folder.
We also recommend the customized version of swift, which has some fixes for headless mode and compatible with Python 3.6: https://github.com/rhys-newbury/swift
There is also a requirements.txt (for pip) and an environment.yml (for conda) to help set up the environments.
The ROS implementation for the Panda will be coming shortly.