Reproducibility Guide

Portable Workflow

python3 -m venv .venv
source .venv/bin/activate
python -m pip install -r requirements.txt
python src/dynamics/spring_assisted_robot.py
python -m unittest discover -s tests -v

Generated artifacts:

• figures/rr_workspace_and_path.png
• figures/jacobian_condition_number.png
• figures/servo_current_comparison.png
• results/dynamics_summary.json

Advanced Coursework Workflows

Install the optional packages:

python -m pip install -r requirements-mujoco.txt

Supporting MuJoCo, mechanism-synthesis, and notebook workflows are preserved under src/coursework/ and notebooks/coursework/. Some advanced workflows require external course inputs that are intentionally not versioned.