Package: fabrics
(Geometric) FabricsNote on developmentThis 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-wrapperThe 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.Holonomic robotsNon-Holonomic robotsInstallationInstall the package through pip, usingpip3install".<options>"or from PyPI usingpip3installfabricsOptions are [agents] and [tutorials]. Those can be installed usingpip3 install ".[agents]"
pip3 install ".[tutorials]"Install the package through poetry, usingpoetryinstall--with<option>PublicationsThis repository was used in several publications. The major one beingDynamic Optimization Fabrics for Motion GenerationIf you are using this software, please cite:@misc{https://doi.org/10.48550/arxiv.2205.08454,doi={10.48550/ARXIV.2205.08454},url={https://arxiv.org/abs/2205.08454},author={Spahn,MaxandWisse,MartijnandAlonso-Mora,Javier},keywords={Robotics(cs.RO),FOS:Computerandinformationsciences,FOS:Computerandinformationsciences},title={DynamicOptimizationFabricsforMotionGeneration},publisher={arXiv},year={2022},copyright={CreativeCommonsAttributionShareAlike4.0International}}Other publications where this repository was used:https://github.com/maxspahn/optuna_fabrics@article{https://doi.org/10.48550/arxiv.2302.06922,doi={10.48550/ARXIV.2302.06922},url={https://arxiv.org/abs/2302.06922},author={Spahn,MaxandAlonso-Mora,Javier},keywords={Robotics(cs.RO),FOS:Computerandinformationsciences,FOS:Computerandinformationsciences},title={AutotuningSymbolicOptimizationFabricsforTrajectoryGeneration},publisher={arXiv},year={2023},copyright={CreativeCommonsAttributionShareAlike4.0International}}https://github.com/tud-amr/localPlannerBench@misc{https://doi.org/10.48550/arxiv.2210.06033,doi={10.48550/ARXIV.2210.06033},url={https://arxiv.org/abs/2210.06033},author={Spahn,MaxandSalmi,ChadiandAlonso-Mora,Javier},keywords={Robotics(cs.RO),FOS:Computerandinformationsciences,FOS:Computerandinformationsciences},title={LocalPlannerBench:BenchmarkingforLocalMotionPlanning},publisher={arXiv},year={2022},copyright={CreativeCommonsAttributionShareAlike4.0International}}TutorialsThis 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 usingpipinstall".[tutorials]"Related works and websitesThe work is based on some works by the NVIDIA Research Labs. Below you find a
list of all relevant links:lecture noteshttps://www.nathanratliff.com/pedagogy/mathematics-for-intelligent-systems#lecture6websiteshttps://sites.google.com/nvidia.com/geometric-fabricspaperhttps://arxiv.org/abs/2010.14750https://arxiv.org/abs/2008.02399https://arxiv.org/abs/2010.14745https://arxiv.org/abs/2010.15676https://arxiv.org/abs/1801.02854videos and talkshttps://www.youtube.com/watch?v=aM9Ha2IawEohttps://www.youtube.com/watch?v=awiF6JjDEbohttps://www.youtube.com/watch?v=VsM-kdk74d8