Revamp controller input dictionary - Githubissues

facebookresearch / polymetis

Write PyTorch controllers, test them in simulation, and seamlessly transfer to real-time hardware.

MIT License

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Revamp controller input dictionary #4

Closed exhaustin closed 3 years ago

exhaustin commented 3 years ago

Rename/modify fields of state_dict that's being input into controllers to better resemble the protobuf message RobotState.

Changes proposed:

Rename field: joint_pos --> joint_positions
Rename field: joint_vel --> joint_velocities
Add field: motor_torques_measured
Add field: motor_torques_external

Test plan:

Benchmarked performance of the Polymetis server using the empty_statistics_client, to compare the effect of adding the motor torque fields.

Before: max: 0.436474, min: 0.166933, avg: 0.178591
After: max: 0.281875, min: 0.182256, avg: 0.193694