Optimization fabrics can be used to formulate local motion planning in form of trees with various task definining leaves. The work is based on findings in https://arxiv.org/abs/2008.02399 .
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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 numpy, matplotlib.pyplot and casadi.
There is also a python package to be used to develop custom leaves.
Beside some common packages, the examples depend on several custom packages. They are installed using the pip installation.
Install the package through pip, using
pip3 install ".<options>"Options are [agents] and [tutorial]. Those con be installed using
Install the package through poetry, using
poetry install -E <option>Open-AI gym agents can be controlled using fabrics. Planar cases can be found in gym_agents. They require the installation of planarEnvs.
https://sites.google.com/nvidia.com/geometric-fabrics
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
https://www.youtube.com/watch?v=aM9Ha2IawEo https://www.youtube.com/watch?v=awiF6JjDEbo
