Metadata-Version: 2.1
Name: klimits
Version: 1.0.1
Summary: An action space representation for learning robot trajectories without exceeding limits on the position, velocity, acceleration and jerk of each robot joint.
Home-page: https://github.com/translearn/limits
Author: Jonas C. Kiemel
Author-email: jonas.kiemel@kit.edu
License: UNKNOWN
Description: # Learning Robot Trajectories subject to Kinematic Joint Constraints
        
        The aim of this package is to enable learning of robot trajectories without without exceeding limits on the position, velocity, acceleration and jerk of each robot joint.
        Movements are generated by mapping the predictions of a neural network to safely executable joint accelerations. \
        This package provides the code to compute the range of safely executable joint accelerations.
        
        ## Installation
        
        The package can be installed by running
        
            pip install klimits
        
        ## Trajectory generation
        
        To generate a random trajectory with limited jerk, acceleration, velocity and position run
        
            python -m klimits.test_trajectory_generation
        
        Several parameters can be adjusted to modify the generated trajectory.
        Run
        
            python -m klimits.test_trajectory_generation --help
        
        for further details.
        
        
        
        ## Further reading
        
        A preprint of the corresponding publication is available at [arXiv.org](https://arxiv.org/abs/2011.00563). \
        Further information on the implementation can be found [here](https://www.researchgate.net/publication/350451653_Background_Knowledge_for_Learning_Robot_Trajectories_subject_to_Kinematic_Joint_Constraints). \
        This library is used by [safeMotions](https://github.com/translearn/safemotions) to learn collision-free reaching tasks via reinforcement learning.
        
        ## Video
        
        [![Video](https://img.youtube.com/vi/JpkKCd9jyss/0.jpg)](https://www.youtube.com/watch?v=JpkKCd9jyss)
        
        ## Disclaimer
        
        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
        
Platform: UNKNOWN
Description-Content-Type: text/markdown
