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توضیحات

Optimization fabrics in python.

ویژگی	مقدار
سیستم عامل	-
نام فایل	fabrics-0.7.1
نام	fabrics
نسخه کتابخانه	0.7.1
نگهدارنده	[]
ایمیل نگهدارنده	[]
نویسنده	Max Spahn
ایمیل نویسنده	m.spahn@tudelft.nl
آدرس صفحه اصلی	https://tud-amr/fabrics
آدرس اینترنتی	https://pypi.org/project/fabrics/
مجوز	GPL-3.0-or-later

# (Geometric) Fabrics [![Build and Agents](https://github.com/maxspahn/fabrics/actions/workflows/diffGeo_agents.yml/badge.svg)](https://github.com/maxspahn/fabrics/actions/workflows/diffGeo_agents.yml) [![Build and Unittest](https://github.com/maxspahn/fabrics/actions/workflows/unitTest.yml/badge.svg)](https://github.com/maxspahn/fabrics/actions/workflows/unitTest.yml) **Note on development** > This project is still under heavy development and there is a lack of > documentation. I, @maxspahn, am committed to improve and maintain that package. > However, I rely on people like you to point me to issues and unclear sections of > the code. So feel free to leave issues whenever something bugs you. **Fabrics ros-wrapper** > The fabrics-ros wrapper will be released very shortly when compatibility is > verified. Geometric Fabrics represent a geometric approach to motion generation for various robot structures. The idea is a next development step after Riemannian Motion Policies and offers increased stability and accessibility. <table> <tr> <td><b>Holonomic robots</b></th> <td><b>Non-Holonomic robots</b></th> </tr> <tr> <td> <img src="./assets/panda_ring.gif" alt="1" width = 360px ></td> <td> <img src="./assets/boxer.gif" alt="1" width = 360px ></td> </tr> <tr> <td> <img src="./assets/panda_dynamic_avoidance.gif" alt="1" width = 360px ></td> <td> <img src="./assets/albert.gif" alt="1" width = 360px ></td> </tr> </table> ## Installation Install the package through pip, using ```bash pip3 install ".<options>" ``` or from PyPI using ```bash pip3 install fabrics ``` Options are [agents] and [tutorials]. Those can be installed using ``` pip3 install ".[agents]" pip3 install ".[tutorials]" ``` Install the package through poetry, using ```bash poetry install --with <option> ``` ## Publications This repository was used in several publications. The major one being [Dynamic Optimization Fabrics for Motion Generation](https://arxiv.org/abs/2205.08454) If you are using this software, please cite: ```bash @misc{https://doi.org/10.48550/arxiv.2205.08454, doi = {10.48550/ARXIV.2205.08454}, url = {https://arxiv.org/abs/2205.08454}, author = {Spahn, Max and Wisse, Martijn and Alonso-Mora, Javier}, keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences}, title = {Dynamic Optimization Fabrics for Motion Generation}, publisher = {arXiv}, year = {2022}, copyright = {Creative Commons Attribution Share Alike 4.0 International} } ``` Other publications where this repository was used: https://github.com/maxspahn/optuna_fabrics ```bash @article{https://doi.org/10.48550/arxiv.2302.06922, doi = {10.48550/ARXIV.2302.06922}, url = {https://arxiv.org/abs/2302.06922}, author = {Spahn, Max and Alonso-Mora, Javier}, keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences}, title = {Autotuning Symbolic Optimization Fabrics for Trajectory Generation}, publisher = {arXiv}, year = {2023}, copyright = {Creative Commons Attribution Share Alike 4.0 International} } ``` https://github.com/tud-amr/localPlannerBench ```bash @misc{https://doi.org/10.48550/arxiv.2210.06033, doi = {10.48550/ARXIV.2210.06033}, url = {https://arxiv.org/abs/2210.06033}, author = {Spahn, Max and Salmi, Chadi and Alonso-Mora, Javier}, keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences}, title = {Local Planner Bench: Benchmarking for Local Motion Planning}, publisher = {arXiv}, year = {2022}, copyright = {Creative Commons Attribution Share Alike 4.0 International} } ``` ## Tutorials This repository contains brief examples corresponding to the theory presented in "Optimization Fabrics" by Ratliff et al. https://arxiv.org/abs/2008.02399. These examples are named according to the naming in that publication. Each script is self-contained and required software is installed using ```bash pip install ".[tutorials]" ``` ## Related works and websites The work is based on some works by the NVIDIA Research Labs. Below you find a list of all relevant links: ### lecture notes - https://www.nathanratliff.com/pedagogy/mathematics-for-intelligent-systems#lecture6 ### websites - https://sites.google.com/nvidia.com/geometric-fabrics ### paper - https://arxiv.org/abs/2010.14750 - https://arxiv.org/abs/2008.02399 - https://arxiv.org/abs/2010.14745 - https://arxiv.org/abs/2010.15676 - https://arxiv.org/abs/1801.02854 ### videos and talks - https://www.youtube.com/watch?v=aM9Ha2IawEo - https://www.youtube.com/watch?v=awiF6JjDEbo - https://www.youtube.com/watch?v=VsM-kdk74d8

نیازمندی

مقدار	نام
>=3.5.4,<4.0.0,!=3.5.5.post1,!=3.5.5.post1	casadi
>=1.15.3,<2.0.0	numpy
>=5.3.1,<6.0.0	geomdl
>=0.9.9,<0.10.0	pyquaternion
>=1.0.2,<2.0.0	pickle-mixin
>=1.0.0,<2.0.0	quaternionic
>=1.0,<2.0	forwardkinematics
>=0.3,<0.4	mpscenes

زبان مورد نیاز

مقدار	نام
>=3.8,<3.10	Python

نحوه نصب

نصب پکیج whl fabrics-0.7.1:

pip install fabrics-0.7.1.whl

نصب پکیج tar.gz fabrics-0.7.1:

pip install fabrics-0.7.1.tar.gz