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3 authors [Polymetis] EE tracking benchmark (EE tracking improvement #1) (#1307)
2de742c Aug 9, 2022
[Polymetis] EE tracking benchmark (EE tracking improvement #1) (#1307) 
* Add benchmark script groundwork

* Automatic style fix for polymetis

* Finish benchmark script

* Automatic style fix for polymetis

* Debug

* Tune experiment

* Ignore spinup phase

* Fix decimal places

* Isolate offline policy creation

* Tune numbers

* Tune meta size

* Rewrite script to benchmark steady state errors

* Remove unused method

* Tune meta logo params

* Add joint move to

* Changed error units to be more intuitive

* Revert wrist motion so experiment looks more impressive

* Tune ee traj and add max stats

* Update polymetis/polymetis/python/scripts/benchmark_ee_tracking.py

Co-authored-by: Yixin Lin <1heart@users.noreply.github.com>

* Automatic style fix for polymetis

* Move ee benchmark to test scripts

* [Polymetis] Adaptive joint PD (EE tracking improvement #2) (#1255)

* Add adaptive joint gain controlleres

* Update RobotInterface

* Added hybrid controllers

* Adapt robot interface

* Move hybrid control to lower level for performance

* Debug

* Debug

* Fix tests

* Fix docstrings

* [Polymetis] Add IK to EE movement commands (EE tracking improvement #3) (#1308)

* Change move_to_ee_pose to use IK & joint move to

* Automatic style fix for polymetis

* Add tracik as pip dep

* Update robotinterface

* Debug robot interface ik

* Resolve invalid ee poses

* Output types

* Find root joint automatically

* Different methods for near and far

* Change ik to be a user facing method

* Add docstirng

* Automatic style fix for polymetis

* Remove IK printout

* Lower default time_to_go

* Remove trac ik stuff, use pinocchio IK instead

* Fix tests by fixing time_to_go

* Fix tests by fixing time_to_go

* Debug merge issue

* Change move_to_ee_pose back to tracking a straight line in op space

* Remove unintentional change

* Add docstring

* Add pinocchio link name test

* [Polymetis] Tune EE gains (EE tracking improvement #4) (#1334)

* Tune gains

* Automatic style fix for polymetis

* Tune EE gains & collision behavior

* Debug merge issue

* Make adaptive gains the default for joint imp

Co-authored-by: bot <bot@fb.com>

Co-authored-by: bot <bot@fb.com>

Co-authored-by: bot <bot@fb.com>

Co-authored-by: bot <bot@fb.com>
Co-authored-by: Yixin Lin <1heart@users.noreply.github.com>
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agents
 
 
annotation_data/model/v0
 
 
docs
 
 
droidlet
 
 
examples_and_tutorials
 
 
mobile/DroidletXR
 
 
mrp
 
 
msg
 
 
perception
 
 
polymetis
 
 
pyrbgt
 
 
tools
 
 
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CODE_OF_CONDUCT.md
 
 
CONTRIBUTING.md
 
 
LICENSE
 
 
README.md
 
 
codecov.yml
 
 
conda.txt
 
 
create_conda.sh
 
 
launch_agent_collect.sh
 
 
launch_env.sh
 
 
pyproject.toml
 
 
requirements.txt
 
 
server.py
 
 
setup.py
 
 

README.md

Fairo

CircleCI License: MIT codecov

Fairo (pronounced "pharaoh") is a unified robotics platform developed by researchers at Meta AI. It currently comprises of a set of projects:

  • Droidlet is an early research project for AI researchers to explore ideas around grounded dialogue, interactive learning and human-computer interfaces. It helps you rapidly build agents (real or virtual) that perform a wide variety of tasks specified by humans. The agents can use natural language, memory and humans in the loop.
  • Polymetis is a PyTorch-based real-time controller manager. It lets you write PyTorch controllers for robots, test them in simulation, and seamlessly transfer to real-time hardware.
  • Meta Robotics Platform lets you deploy, launch, manage, and orchestrate heterogeneous robots with ease.

Fairo is MIT licensed.

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A modular embodied agent architecture and platform for building embodied agents

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Releasing v1.0 to prep for v2.0 modular design Latest
May 11, 2021

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