DrawZeroPoint / pyrieef

python library to generate and learn collision-free movement using differential and Riemannian geometry

(pyrieef) Python Riemannian Electrical Fields

Pure python project to generate and learn collision free movement in real environments using a Riemannian geometric approach.

Install

pip install -r requirements.txt

Run all tests

pytest tests

Result of

python examples/plot_barrier.py

For a technical presentation of the algorithm developed in this work refer to the following publication

@inproceedings{mainprice2016warping,
  title={Warping the workspace geometry with electric potentials for motion optimization of manipulation tasks},
  author={Mainprice, Jim and Ratliff, Nathan and Schaal, Stefan},
  booktitle={Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on},
  pages={3156--3163},
  year={2016}
}