This repository contains code and experiment scripts for the real-world implementation of the B* algorithm, designed to achieve efficient and optimal base placement for fixed-base robotic manipulators. The codebase enables running experiments on physical robots, collecting results, and analyzing performance.

B* is an algorithm for determining optimal base placements for fixed-base manipulators to maximize workspace reachability and task performance. This repository provides:

• Experiment scripts for running B* on real robotic arms
• Utilities for trajectory generation and result analysis
• Example datasets and result logs

experiment.py                # Main experiment script
experiment_low_level.py      # Low-level control and experiment utilities
utilities.py                 # Helper functions and utilities
kinova_traj/                 # Trajectory and result data
  ├── bstar_results/         # Results from B* experiments
  │   └── ...                # Subfolders for each experiment run
  └── designed_traj/         # Pre-designed trajectories for different robots

1. Clone this repository.
2. Install the dependencies as described below.
3. Run experiments on the Kinova Gen3 arm using the provided scripts:

   python experiment.py --traj_file_path path/to/your/generated_traj.npz \
   --designed_traj_file_path path/to/your/designed_traj.npz \
   --data_save_path exp_data.pkl \
   --execute 1

To be added by the user.

1. Install the required Python packages:

   pip install scipy numpy

2. Install pymlg:

   git clone https://github.com/decargroup/pymlg.git
   cd pymlg
   pip install .
   cd ..

3. Install the Kinova Python API:

   wget https://artifactory.kinovaapps.com:443/artifactory/generic-local-public/kortex/API/2.7.0/kortex_api-2.7.0.post5-py3-none-any.whl
   python -m pip install kortex_api-2.7.0.post5-py3-none-any.whl