pyrieef 0.0.1

Motion planning and control python package

(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

[](https://postimg.cc/image/62fcfhnq5/)

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}
}