safemotions 0.1.0

Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors.

Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors

This python package provides the code to learn torque-limited and collision-free robot trajectories without exceeding limits on the position, velocity, acceleration and jerk of each robot joint.

Installation

The package can be installed by running

pip install safemotions

Trajectory Generation

To generate a random trajectory with a single robot run

python -m safemotions.random_agent

For a demonstration scenario with two robots run

python -m safemotions.random_agent --robot_scene=1

Collision-free trajectories for three robots can be generated by running

python -m safemotions.random_agent --robot_scene=2

Further documentation and instructions for training via RL coming soon ...

Publication

The corresponding publication is available at https://arxiv.org/abs/2103.03793.

Video