Polymetis¶

Usage¶

Start the Controller Manager Server and Robot Client¶

See instructions in examples to run the server and client. Clients include:

Franka Client: A hardware client designed to work with the Franka Panda arm, implemented as a wrapper around Libfranka
Simulation Client: A simulation client which has the same interface as the hardware client. For details, see documentation in polysim.
Empty Statistics Client: A robot client which prints statistics about time taken by RPC calls and always returns joint states of 0s). Can be used to confirm that the Controller Manager Server is running properly and to debug performance issues.

Hydra configuration files can be found in polymetis/conf/robot_client.

Connect a User Client to the Controller Manager Server & use it to execute user scripts¶

The user API is exposed through RobotInterface, which is initialized as follows:

from polymetis import RobotInterface

robot = RobotInterface(
    ip_address="localhost",
)

ip_address is the IP of the Controller Manager Server. Since we’re launching it locally in this example, the IP will be localhost.

Definitions of available methods can be found here. Sample user scripts can be found in examples.

Connect to a Gripper Server & control a gripper through it¶

The user API is exposed through GripperInterface, which is initialized as follows:

from polymetis import GripperInterface

gripper = GripperInterface(
    ip_address="localhost",
)

# example usages
gripper_state = gripper.get_state()
gripper.goto(width=0.01, speed=0.05)
gripper.grasp(speed=0.05, force=0.1)