.. image:: img/polymetis-logo.svg

Write `PyTorch <https://pytorch.org/>`_ controllers, test them in simulation, and seamlessly transfer to real-time hardware.

Code on `Github <https://github.com/facebookresearch/fairo/tree/main/polymetis>`_.

By `Facebook AI Research <https://ai.facebook.com/>`_.

Get started
-----------

.. toctree::

   prereq
   installation
   usage
   troubleshooting

Overview
--------

.. toctree::

   overview
   polymetis-doc
   polysim-doc
   torchcontrol-doc

Autogenerated docs
---------------------------

.. toctree::
   :maxdepth: 2

   modules

Benchmarks
---------------------------

To see benchmarks over time (using `Airspeed Velocity <https://asv.readthedocs.io/>`_), `click here <../_static/asv-benchmarks/index.html>`_.

Indices and tables
------------------

* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`