Proto commits in facebookresearch/fairo

These 31 commits are when the Protocol Buffers files have changed:

2022-12-02

[Polymetis] Completely expose Franka Hand gripper API (#1399) * Completely expose franka hand grasp interface * Add success feedback * Add docstring

The documentation is generated from this commit.

2022-10-11

[Polymetis] Fix modbus exception handling (#1384) * Fix exception handling * Add error code to indicate a gripper read fail * Pin pymodbus version * Add warning

2022-08-19

throw error if never set, else return current value (no block for fresh)

renamed sim services; simplified locking in get; removed stale update check in set

2022-08-18

created get/set mirror state services + tests

2022-08-11

[Polymetis] Revamp gripper server architecture (#1236) * Change robotiq gripper to server client arch * Change service to share ControlUpdate name * Move spinner into utils * Adapt franka hand client * Improve franka stuff installation * Update launching * Remove debug print * Fix tests * Debug * Update docs * Resolve process launching race condition and increase timeout * [Polymetis] New Polysim API (#1237) * Create new sim interface * Add robotiq urdf data * Allow server to launch without client * Finish sim script * Debug * Debug sim * Use franka hand instead * Working hand & gripper in sim * Redesign metadata propagation * Debug * Adapt metadata * Refactor examples * Automatic style fix for polymetis * Debug * Revert metadata serialization * Refactor metadata propagation * Revert metadata change * Update Gripper interface to retrieve metadata * Make urdf optional * Fix gripper interface test * Address minor comments * Remove unnecessary process spawning for gripper server * Debug robotiq gripper client * Fix typo * Redesign metadata API * Debug * Automatic style fix for polymetis * Debug * Minor bytesIO improvement * Revert to using wallclock time * Rename objects to make code easier to read * Modularized test utils, add interface test * Debug test Co-authored-by: bot <bot@fb.com> Co-authored-by: bot <bot@fb.com>

2022-06-17

Change service to share ControlUpdate name

2022-06-16

Change robotiq gripper to server client arch

2022-06-03

add dexterous test_func

2022-05-26

Testbench for threading priority

2022-04-19

Cleanup, working RobotInterface grasp

2022-04-12

WIP server/client architecture

Add grasp_server proto init

2022-03-01

Modify client facing interfaces to use direct function calls

2022-02-28

[Polymetis] Misc. Franka client features for debugging (#1016) * Add success boolean to robot state * Add success field to sim * Disable native low pass filter * Include success rate to benchmarking script * Add lpf filter * Benchmarking stdout info * Update proto file comments * Add error code * Tune gains & lfp * Add limit rate to cfg * Add tau_J_d to robot state * Precision bug

2022-01-26

[Polymetis] Add control loop latency to robot state (#956) * Add controller latency to robot state * Add benchmarking examples * Also add control latency to sim

2022-01-21

Clean server shutdown WIP

2021-12-13

Merge branch 'main' into austinw/sim2real

2021-11-18

Add benchmarking changes

2021-11-16

[Polymetis] Add Cartesian impedance control (#758) * Separate out Torch libs from server * Remove extraneous include * Move dtt to torchscript_operators to highlight Torch isolation * WIP * Cherry pick cartesian impedance from teleop branch * Add type hint missed in prev PR * Clean up torchcontrol modules * Rename * Update docstring * Revamp move to policies * Update RobotInterface * Default Cartesian gains * Debug * Normalize gains * Adapt test script to use new Cartesian controller * Change plan to output tensor * Properly find Protobuf * Working compilation except for torch in headers * Debug * Compiling torch_server_ops with (hopefully) compatible ABI interface * Seems to link with libtorch_server_ops.so * Separated pinocchio and torch libs in torchscript_pinocchio * Working pinocchio isolation * Working recursive build * Formatting * Pin Eigen value to prevent weird compilation bug * Add fstream to tests * A bunch of fixes from debugging CircleCI * Reformat * Fix Conda * Fix Conda * Destructors (no smart pointers for hidden implementations) * Don't initialize torch_robot_state_ until init * Wrapper extern * Add delete wrapper for incomplete type * Fix controller switching logic to not block controller execution (#785) * Fix destructors * Debug RobotInterface * Bring back cartesian space joint move to * Switch robotinterface to use working moveto policy * Debug * Revert robotinterface and remove Cartesian gains * Minor refactor * [Polymetis] Refactor planning & Cartesian control (#806) * Refactor plans * update example * Debug * Remove move_to policies * Update tests and debug * Add comments * Change cartesian gains to read from metadata * Debug and update test * Remove todo comment Co-authored-by: 1heart <yixin1996@gmail.com>

2021-11-08

Merge branch 'main' into austinw/sim2real

2021-10-27

[polymetis] Add version check when connecting to server (#762) * Tmp commit * Version enforcing * Add to robot client metadata * Add comments * Code format * Update comments * Change version location

2021-10-22

[polymetis] Misc. UX changes (#626) * Render and neutral pose for IK * Formatting * Rename ee_joint_name to ee_link_name * Rename to rest pose * Documentation * Formatting

2021-10-08

Add support for Franka gripper (#738) * Adapt gripper interface to accomodate Franka * Add franka gripper server * Update interface and test script * Update launch file to launch both grippers * Update ux * Update docs * Tune hw test

2021-09-13

Rename rpc calls

Move gripper server to inherit from same monolithic service

2021-08-30

[polymetis] Robotiq gripper support (#662) * Add test script for random free space motions * Update sampling range * Go home after every execution * Add gripper grpc server * Fix gripper init * Add gripper interface * Add grasping script * Tune grasping ci * Recovery mechanism * add docstring * Update comments * Add null space correction to Cartesian space joint planner * Regenerate test data * Tune pregrasp height * Tune grasp * Add -s * Fix zero division * Update comments * Tune grasping * Remove test scripts * Reset robot interface * Add docstrings to gripper interface * [polymetis] Hardware CI (#671) * Add interval querying * Add test scripts * Update pr template * Add copyright headers * Isolate third party * Revert gitmodule * Modify isolation and add copyright * Rename CI * Add copyright * Exclude hw tests * Fix failing test * Fix mock client issue

2021-08-17

Working empty_statistics_client

2021-08-10

[polymetis] Misc. UX changes (#626) * Render and neutral pose for IK * Formatting * Rename ee_joint_name to ee_link_name * Rename to rest pose * Documentation * Formatting

2021-08-04

Rename ee_joint_name to ee_link_name

2021-06-30

Init