polymetis
Write PyTorch controllers, test them in simulation, and seamlessly transfer to real-time hardware.
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- Dockerfile
- README.md
- config.yml
- bug-report.md
- feature-request.md
- pull_request_template.md
- classAutomaticErrorRecoveryCommand.rst
- classCircularBuffer.rst
- classCommand.rst
- classControlLoop.rst
- classControlLoops.rst
- classControlLoopWithElbow.rst
- classControlLoopWithTransformationMatrix.rst
- classfranka_1_1CartesianPose.rst
- classfranka_1_1CartesianVelocities.rst
- classfranka_1_1ControlLoop.rst
- classfranka_1_1Duration.rst
- classfranka_1_1Gripper.rst
- classfranka_1_1JointPositions.rst
- classfranka_1_1JointVelocities.rst
- classfranka_1_1LibraryDownloader.rst
- classfranka_1_1LibraryLoader.rst
- classfranka_1_1Logger.rst
- classfranka_1_1Model.rst
- classfranka_1_1ModelLibrary.rst
- classfranka_1_1Network.rst
- classfranka_1_1Robot.rst
- classfranka_1_1Robot_1_1Impl.rst
- classfranka_1_1RobotControl.rst
- classfranka_1_1Torques.rst
- classfranka_1_1VacuumGripper.rst
- classFrankaTorqueControlClient.rst
- classGetterSetterCommand.rst
- classGripperCommand.rst
- classInputParser.rst
- classmembuf.rst
- classmemstream.rst
- classMockControlCallback.rst
- classMockRobotControl.rst
- classMockServer.rst
- classMotionGenerator.rst
- classMoveCommand.rst
- classPolymetisControllerServerImpl.rst
- classStopMoveCommand.rst
- classTestGrpcClient.rst
- classVacuumGripperCommand.rst
- calculations__tests_8cpp.rst
- cartesian__impedance__control_8cpp.rst
- CHANGELOG_8md.rst
- CheckForPthreads_8cxx.rst
- CMakeCXXCompilerId_8cpp.rst
- command__types_8h.rst
- common_2README_8md.rst
- communication__test_8cpp.rst
- control__loop_8cpp.rst
- control__loop_8h.rst
- control__loop__tests_8cpp.rst
- control__tools_8cpp.rst
- control__tools_8h.rst
- control__types_8cpp.rst
- control__types_8h.rst
- control__types__tests_8cpp.rst
- dtt_8h.rst
- duration_8cpp.rst
- duration_8h.rst
- duration__tests_8cpp.rst
- echo__robot__state_8cpp.rst
- empty__statistics__client_8cpp.rst
- error_8h.rst
- errors_8cpp.rst
- errors_8h.rst
- errors__tests_8cpp.rst
- examples__common_8cpp.rst
- examples__common_8h.rst
- exception_8cpp.rst
- exception_8h.rst
- fair__controller__manager__server_8cpp.rst
- fair__controller__manager__server_8hpp.rst
- force__control_8cpp.rst
- franka__panda__client_8cpp.rst
- franka__panda__client_8hpp.rst
- generate__cartesian__pose__motion_8cpp.rst
- generate__cartesian__velocity__motion_8cpp.rst
- generate__consecutive__motions_8cpp.rst
- generate__elbow__motion_8cpp.rst
- generate__joint__position__motion_8cpp.rst
- generate__joint__velocity__motion_8cpp.rst
- grasp__object_8cpp.rst
- gripper_2types_8h.rst
- gripper_8cpp.rst
- gripper_8h.rst
- gripper__command__tests_8cpp.rst
- gripper__state_8cpp.rst
- gripper__state_8h.rst
- gripper__tests_8cpp.rst
- helpers_8cpp.rst
- helpers_8h.rst
- joint__impedance__control_8cpp.rst
- joint__point__to__point__motion_8cpp.rst
- libfcimodels_8h.rst
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- library__downloader_8cpp.rst
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- library__loader_8h.rst
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- log_8cpp.rst
- log_8h.rst
- logger_8cpp.rst
- logger_8h.rst
- logger__tests_8cpp.rst
- lowpass__filter_8cpp.rst
- lowpass__filter_8h.rst
- lowpass__filter__tests_8cpp.rst
- main_8md.rst
- mock__robot__control_8h.rst
- mock__server_8cpp.rst
- mock__server_8h.rst
- model_8cpp.rst
- model_8h.rst
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- network_8cpp.rst
- network_8h.rst
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- rate__limiting_8cpp.rst
- rate__limiting_8h.rst
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- rbk__types_8h.rst
- README_8md.rst
- real__time_8hpp.rst
- robot_8cpp.rst
- robot_8h.rst
- robot__command__tests_8cpp.rst
- robot__control_8h.rst
- robot__impl_8cpp.rst
- robot__impl_8h.rst
- robot__impl__tests_8cpp.rst
- robot__state_8cpp.rst
- robot__state_8h.rst
- robot__state__tests_8cpp.rst
- robot__tests_8cpp.rst
- run__server_8cpp.rst
- service__traits_8h.rst
- service__types_8h.rst
- test__grpc__client_8cpp.rst
- torchscript__pinocchio_8cpp.rst
- utils_8h.rst
- vacuum__gripper_2types_8h.rst
- vacuum__gripper_8cpp.rst
- vacuum__gripper_8h.rst
- vacuum__gripper__command__tests_8cpp.rst
- vacuum__gripper__state_8cpp.rst
- vacuum__gripper__state_8h.rst
- vacuum__gripper__tests_8cpp.rst
- vacuum__object_8cpp.rst
- circleci-artifact.png
- circleci-check.png
- diagram.png
- foxyproxy.png
- namespace_0d23.rst
- namespace_0d25.rst
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- namespacefranka_1_1_0d60.rst
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- namespacefranka_1_1_0d76.rst
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- namespacetesting.rst
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- structCartesianPoseMotion.rst
- structCartesianPoseMotionWithElbow.rst
- structCartesianVelocityMotion.rst
- structCartesianVelocityMotionWithElbow.rst
- structCustomControllerContext.rst
- structfranka_1_1CommandException.rst
- structfranka_1_1ControlException.rst
- structfranka_1_1Errors.rst
- structfranka_1_1Exception.rst
- structfranka_1_1Finishable.rst
- structfranka_1_1GripperState.rst
- structfranka_1_1IncompatibleVersionException.rst
- structfranka_1_1InvalidOperationException.rst
- structfranka_1_1ModelException.rst
- structfranka_1_1MotionGeneratorTraits.rst
- structfranka_1_1MotionGeneratorTraits_3_01CartesianPose_01_4.rst
- structfranka_1_1MotionGeneratorTraits_3_01CartesianVelocities_01_4.rst
- structfranka_1_1MotionGeneratorTraits_3_01JointPositions_01_4.rst
- structfranka_1_1MotionGeneratorTraits_3_01JointVelocities_01_4.rst
- structfranka_1_1NetworkException.rst
- structfranka_1_1ProtocolException.rst
- structfranka_1_1RealtimeException.rst
- structfranka_1_1Record.rst
- structfranka_1_1RobotCommand.rst
- structfranka_1_1RobotState.rst
- structfranka_1_1VacuumGripperState.rst
- structfranka_1_1VirtualWallCuboid.rst
- structGripperTypes.rst
- structJointPositionMotion.rst
- structJointVelocityMotion.rst
- structMockModel.rst
- structMockMotionCallback.rst
- structMockServer_1_1Socket.rst
- structModel.rst
- structModelLibraryInterface.rst
- structresearch__interface_1_1gripper_1_1CommandBase.rst
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- structresearch__interface_1_1gripper_1_1Connect_1_1Request.rst
- structresearch__interface_1_1gripper_1_1Connect_1_1Response.rst
- structresearch__interface_1_1gripper_1_1Grasp.rst
- structresearch__interface_1_1gripper_1_1Grasp_1_1GraspEpsilon.rst
- structresearch__interface_1_1gripper_1_1Grasp_1_1Request.rst
- structresearch__interface_1_1gripper_1_1GripperState.rst
- structresearch__interface_1_1gripper_1_1Homing.rst
- structresearch__interface_1_1gripper_1_1Move.rst
- structresearch__interface_1_1gripper_1_1Move_1_1Request.rst
- structresearch__interface_1_1gripper_1_1RequestBase.rst
- structresearch__interface_1_1gripper_1_1ResponseBase.rst
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- structresearch__interface_1_1robot_1_1CommandTraits_3_01SetCartesianImpedance_01_4.rst
- structresearch__interface_1_1robot_1_1CommandTraits_3_01SetCollisionBehavior_01_4.rst
- structresearch__interface_1_1robot_1_1CommandTraits_3_01SetEEToK_01_4.rst
- structresearch__interface_1_1robot_1_1CommandTraits_3_01SetFilters_01_4.rst
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- structresearch__interface_1_1robot_1_1Connect_1_1Request.rst
- structresearch__interface_1_1robot_1_1Connect_1_1Response.rst
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- structresearch__interface_1_1robot_1_1GetCartesianLimit_1_1Response.rst
- structresearch__interface_1_1robot_1_1GetterSetterCommandBase.rst
- structresearch__interface_1_1robot_1_1LoadModelLibrary.rst
- structresearch__interface_1_1robot_1_1LoadModelLibrary_1_1Request.rst
- structresearch__interface_1_1robot_1_1MotionGeneratorCommand.rst
- structresearch__interface_1_1robot_1_1Move.rst
- structresearch__interface_1_1robot_1_1Move_1_1Deviation.rst
- structresearch__interface_1_1robot_1_1Move_1_1Request.rst
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- structresearch__interface_1_1robot_1_1ResponseBase.rst
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- structresearch__interface_1_1robot_1_1RobotState.rst
- structresearch__interface_1_1robot_1_1SetCartesianImpedance.rst
- structresearch__interface_1_1robot_1_1SetCartesianImpedance_1_1Request.rst
- structresearch__interface_1_1robot_1_1SetCollisionBehavior.rst
- structresearch__interface_1_1robot_1_1SetCollisionBehavior_1_1Request.rst
- structresearch__interface_1_1robot_1_1SetEEToK.rst
- structresearch__interface_1_1robot_1_1SetEEToK_1_1Request.rst
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- structresearch__interface_1_1robot_1_1SetGuidingMode_1_1Request.rst
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- structresearch__interface_1_1robot_1_1SetJointImpedance_1_1Request.rst
- structresearch__interface_1_1robot_1_1SetLoad.rst
- structresearch__interface_1_1robot_1_1SetLoad_1_1Request.rst
- structresearch__interface_1_1robot_1_1SetNEToEE.rst
- structresearch__interface_1_1robot_1_1SetNEToEE_1_1Request.rst
- structresearch__interface_1_1robot_1_1StopMove.rst
- structresearch__interface_1_1vacuum__gripper_1_1CommandBase.rst
- structresearch__interface_1_1vacuum__gripper_1_1CommandHeader.rst
- structresearch__interface_1_1vacuum__gripper_1_1CommandMessage.rst
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- structresearch__interface_1_1vacuum__gripper_1_1DropOff.rst
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- structresearch__interface_1_1vacuum__gripper_1_1RequestBase.rst
- structresearch__interface_1_1vacuum__gripper_1_1ResponseBase.rst
- structresearch__interface_1_1vacuum__gripper_1_1Stop.rst
- structresearch__interface_1_1vacuum__gripper_1_1Vacuum.rst
- structresearch__interface_1_1vacuum__gripper_1_1Vacuum_1_1Request.rst
- structresearch__interface_1_1vacuum__gripper_1_1VacuumGripperState.rst
- structRobot.rst
- structRobot_1_1Impl.rst
- structRobotClientContext.rst
- structRobotModelPinocchio.rst
- structRobotTypes.rst
- structVacuumGripperTypes.rst
- classlist.rst
- conf.py
- filelist.rst
- index.rst
- installation.md
- modules.rst
- namespacelist.rst
- overview.md
- polymetis-doc.md
- polymetis.robot_client.rst
- polymetis.rst
- polymetis.utils.rst
- polysim-doc.md
- polysim.envs.rst
- polysim.rst
- prereq.md
- structlist.rst
- torchcontrol-doc.md
- torchcontrol.models.rst
- torchcontrol.modules.rst
- torchcontrol.policies.rst
- torchcontrol.rst
- torchcontrol.transform.rst
- torchcontrol.utils.rst
- transform.rst
- usage.md
- .gitignore
- Doxyfile
- Makefile
- README.md
- 0_set_joint_positions.py
- 1_set_ee_pose.py
- 2_custom_controller.py
- 3_custom_updatable_controller.py
- .gitignore
- .gitignore
- build.sh
- meta.yaml
- build_conda_package.sh
- empty_statistics_client.yaml
- franka_hardware.yaml
- franka_sim.yaml
- franka_panda.yaml
- launch_robot.yaml
- viz.yaml
- finger.stl
- hand.stl
- link0.stl
- link1.stl
- link2.stl
- link3.stl
- link4.stl
- link5.stl
- link6.stl
- link7.stl
- finger.dae
- hand.dae
- link0.dae
- link1.dae
- link2.dae
- link3.dae
- link4.dae
- link5.dae
- link6.dae
- link7.dae
- panda_arm.urdf
- iiwa14_upload.launch
- iiwa7_upload.launch
- link_0.stl
- link_1.stl
- link_2.stl
- link_3.stl
- link_4.stl
- link_5.stl
- link_6.stl
- link_7.stl
- link_0.stl
- link_1.stl
- link_2.stl
- link_3.stl
- link_4.stl
- link_5.stl
- link_6.stl
- link_7.stl
- link_0.stl
- link_1.stl
- link_2.stl
- link_3.stl
- link_4.stl
- link_5.stl
- link_6.stl
- link_7.stl
- link_0.stl
- link_1.stl
- link_2.stl
- link_3.stl
- link_4.stl
- link_5.stl
- link_6.stl
- link_7.stl
- base.stl
- coupler.stl
- driver.stl
- follower.stl
- pad.stl
- spring_link.stl
- gripper-2f_BaseColor.jpg
- gripper-2f_Metallic.jpg
- gripper-2f_Normal.jpg
- gripper-2f_Roughness.jpg
- base.mtl
- coupler.mtl
- driver.mtl
- follower.mtl
- pad.stl
- spring_link.mtl
- robotiq_fts150.stl
- robotiq_fts300.dae
- robotiq_fts150.stl
- robotiq_fts300.dae
- box.urdf
- hole_box.urdf
- hole_box_huge.urdf
- hole_box_large.urdf
- iiwa7.urdf
- iiwa7_ft.urdf
- iiwa7_ft_peg.urdf
- iiwa7_robotiq-2f.urdf
- iiwa7_table.urdf
- iiwa7_transparent.urdf
- puck.urdf
- table.mtl
- table.png
- table.urdf
- table_plane.mtl
- table_plane.urdf
- triangle_0000.urdf
- ee_peg.xacro
- ee_virtual.xacro
- force_torque_sensor.xacro
- iiwa.gazebo.xacro
- iiwa.transmission.xacro
- iiwa14.urdf.xacro
- iiwa14.xacro
- iiwa7.urdf.xacro
- iiwa7.xacro
- materials.xacro
- robotiq_85.xacro
- utilities.xacro
- generate_urdf.sh
- README.md
- viz.png
- franka_panda_client.hpp
- polymetis_server.hpp
- utils.h
- dtt.h
- real_time.hpp
- polymetis.proto
- __init__.py
- polymetis_plugin.py
- __init__.py
- abstract_robot_client.py
- executable_robot_client.py
- metadata.py
- __init__.py
- data_dir.py
- __init__.py
- conf
- data
- robot_interface.py
- __init__.py
- polymetis_pb2.py
- __init__.py
- polymetis_pb2_grpc.py
- __init__.py
- abstract_env.py
- bullet_locomotor.py
- bullet_manipulator.py
- __init__.py
- grpc_sim_client.py
- test_utils.py
- launch_robot.py
- viz.py
- __init__.py
- torchscript_pinocchio.py
- __init__.py
- feedback.py
- feedforward.py
- planning.py
- __init__.py
- default_controller.py
- ee_pd.py
- ilqr.py
- joint_pd.py
- move_to.py
- __init__.py
- rotation.py
- transformation.py
- __init__.py
- tensor_utils.py
- test_utils.py
- __init__.py
- _module.py
- README.md
- libfranka
- franka_panda_client.cpp
- empty_statistics_client.cpp
- test_grpc_client.cpp
- pinocchio.cpp
- rotations.cpp
- polymetis_server.cpp
- run_server.cpp
- test_server.cpp
- test_server.py
- test_server.yaml
- module_feedback_cpd.pt
- module_feedback_jpd.pt
- module_feedback_lf.pt
- module_feedback_opd.pt
- module_feedback_oppd.pt
- module_feedforward_coriolis.pt
- module_feedforward_id_0.pt
- module_feedforward_id_1.pt
- module_planning_cartesian_2.pt
- module_planning_cartesian_25.pt
- module_planning_cartesian_joints_2.pt
- module_planning_cartesian_joints_25.pt
- module_planning_joints_2.pt
- module_planning_joints_25.pt
- module_planning_pos_2.pt
- module_planning_pos_25.pt
- __init__.py
- test_feedback.py
- test_feedforward.py
- test_planning.py
- __init__.py
- test_policies.py
- test_policy_performance.py
- test_torchscript_pinocchio.py
- test_transformations.py
- __init__.py
- test_env.py
- test_spinner.py
- __init__.py
- test_libfranka_installation.sh
- CMakeLists.txt
- CPPLINT.cfg
- environment.yml
- install.sh
- MANIFEST.in
- package.xml
- pytest.ini
- setup.py
- build_libfranka.sh
- format_cpp.sh
- install_preempt_rt.sh
- __init__.py
- test_utils.py
- 0_joint_positions.py
- 1_ee_pose.py
- 2_toco_policies.py
- test_integrations.sh
- .clang-format
- .gitignore
- .gitmodules
- .pre-commit-config.yaml
- CODE_OF_CONDUCT.md
- CONTRIBUTING.md
- LICENSE
- pyproject.toml
- README.md
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