Installation

1. Create a new Anaconda environment: conda create -n mm python=3.8

2. conda activate mm

3. pip3 install -r requirements.txt

4. export PYTHONPATH="$PYTHONPATH:<path to Mobile-Manipulation repo>"

Run

1. python simulation/main.py
2. Press 'u' for bot to collect the chosen obj

We have 4 demo videos

1. Full path video shows the robot successfully planning a path and avoiding collisons to reach across the room and grasp an object.
2. The other three videos showcase the robot successfully planning a path and picking three objects (blue, red and white cups in this order) and dropping them in end location.

References

PyBullet Documentation: https://pybullet.org/wordpress/index.php/forum-2/.

You can also use ChatGPT or Cursor to get the API of PyBullet.