path	# lines of code
polymetis/protos/polymetis.proto	80
polymetis/environment.yml	41
polymetis/python/torchcontrol/_module.py	38
polymetis/python/torchcontrol/__init__.py	5
polymetis/python/torchcontrol/utils/__init__.py	1
polymetis/python/torchcontrol/utils/tensor_utils.py	14
polymetis/python/torchcontrol/models/__init__.py	1
polymetis/python/torchcontrol/models/torchscript_pinocchio.py	49
polymetis/python/torchcontrol/policies/ilqr.py	30
polymetis/python/torchcontrol/policies/default_controller.py	27
polymetis/python/torchcontrol/policies/__init__.py	4
polymetis/python/torchcontrol/policies/ee_pd.py	45
polymetis/python/torchcontrol/policies/move_to.py	107
polymetis/python/torchcontrol/policies/joint_pd.py	36
polymetis/python/torchcontrol/modules/feedback.py	107
polymetis/python/torchcontrol/modules/feedforward.py	34
polymetis/python/torchcontrol/modules/__init__.py	3
polymetis/python/torchcontrol/modules/planning.py	115
polymetis/python/torchcontrol/transform/transformation.py	43
polymetis/python/torchcontrol/transform/__init__.py	2
polymetis/python/torchcontrol/transform/rotation.py	63
polymetis/python/polymetis/__init__.py	1
polymetis/python/polymetis/utils/data_dir.py	22
polymetis/python/polymetis/utils/__init__.py	1
polymetis/python/polymetis/robot_client/abstract_robot_client.py	11
polymetis/python/polymetis/robot_client/metadata.py	57
polymetis/python/polymetis/robot_client/__init__.py	1
polymetis/python/polymetis/robot_client/executable_robot_client.py	41
polymetis/python/polymetis/robot_interface.py	218
polymetis/python/polymetis/data/franka_panda/panda_arm.urdf	227
polymetis/python/polymetis/data/kuka_iiwa/urdf/table_plane.urdf	31
polymetis/python/polymetis/data/kuka_iiwa/urdf/iiwa7_ft_peg.urdf	437
polymetis/python/polymetis/data/kuka_iiwa/urdf/hole_box_huge.urdf	140
polymetis/python/polymetis/data/kuka_iiwa/urdf/iiwa7.urdf	401
polymetis/python/polymetis/data/kuka_iiwa/urdf/table.mtl	13
polymetis/python/polymetis/data/kuka_iiwa/urdf/triangle_0000.urdf	26
polymetis/python/polymetis/data/kuka_iiwa/urdf/table.urdf	55
polymetis/python/polymetis/data/kuka_iiwa/urdf/hole_box_large.urdf	140
polymetis/python/polymetis/data/kuka_iiwa/urdf/iiwa7_table.urdf	457
polymetis/python/polymetis/data/kuka_iiwa/urdf/iiwa7_ft.urdf	420
polymetis/python/polymetis/data/kuka_iiwa/urdf/iiwa7_robotiq-2f.urdf	684
polymetis/python/polymetis/data/kuka_iiwa/urdf/puck.urdf	32
polymetis/python/polymetis/data/kuka_iiwa/urdf/hole_box.urdf	140
polymetis/python/polymetis/data/kuka_iiwa/urdf/table_plane.mtl	11
polymetis/python/polymetis/data/kuka_iiwa/urdf/iiwa7_transparent.urdf	401
polymetis/python/polymetis/data/kuka_iiwa/urdf/box.urdf	32
polymetis/python/polymetis/data/kuka_iiwa/launch/iiwa14_upload.launch	8
polymetis/python/polymetis/data/kuka_iiwa/launch/iiwa7_upload.launch	8
polymetis/python/polymetis/data/kuka_iiwa/xacro/ee_peg.xacro	34
polymetis/python/polymetis/data/kuka_iiwa/xacro/iiwa7.xacro	296
polymetis/python/polymetis/data/kuka_iiwa/xacro/utilities.xacro	16
polymetis/python/polymetis/data/kuka_iiwa/xacro/iiwa14.urdf.xacro	13
polymetis/python/polymetis/data/kuka_iiwa/xacro/iiwa.transmission.xacro	82
polymetis/python/polymetis/data/kuka_iiwa/xacro/iiwa.gazebo.xacro	50
polymetis/python/polymetis/data/kuka_iiwa/xacro/iiwa7.urdf.xacro	23
polymetis/python/polymetis/data/kuka_iiwa/xacro/iiwa14.xacro	292
polymetis/python/polymetis/data/kuka_iiwa/xacro/force_torque_sensor.xacro	24
polymetis/python/polymetis/data/kuka_iiwa/xacro/ee_virtual.xacro	17
polymetis/python/polymetis/data/kuka_iiwa/xacro/materials.xacro	32
polymetis/python/polymetis/data/kuka_iiwa/xacro/robotiq_85.xacro	288
polymetis/python/polymetis/data/kuka_iiwa/meshes/robotiq-2f/visual/base.mtl	12
polymetis/python/polymetis/data/kuka_iiwa/meshes/robotiq-2f/visual/follower.mtl	12
polymetis/python/polymetis/data/kuka_iiwa/meshes/robotiq-2f/visual/spring_link.mtl	12
polymetis/python/polymetis/data/kuka_iiwa/meshes/robotiq-2f/visual/driver.mtl	12
polymetis/python/polymetis/data/kuka_iiwa/meshes/robotiq-2f/visual/coupler.mtl	12
polymetis/python/polymetis/conf/robot_model/franka_panda.yaml	10
polymetis/python/polymetis/conf/robot_client/empty_statistics_client.yaml	18
polymetis/python/polymetis/conf/robot_client/franka_sim.yaml	20
polymetis/python/polymetis/conf/robot_client/franka_hardware.yaml	74
polymetis/python/polymetis/conf/launch_robot.yaml	6
polymetis/python/polymetis/conf/viz.yaml	19
polymetis/python/polymetis_pb2_grpc/__init__.py	1
polymetis/python/hydra_plugins/polymetis_plugin/__init__.py	1
polymetis/python/hydra_plugins/polymetis_plugin/polymetis_plugin.py	8
polymetis/python/polymetis_pb2/__init__.py	1
polymetis/python/scripts/launch_robot.py	53
polymetis/python/scripts/viz.py	198
polymetis/python/polysim/__init__.py	1
polymetis/python/polysim/envs/abstract_env.py	18
polymetis/python/polysim/envs/bullet_locomotor.py	175
polymetis/python/polysim/envs/__init__.py	2
polymetis/python/polysim/envs/bullet_manipulator.py	161
polymetis/python/polysim/grpc_sim_client.py	109
polymetis/conda/conda_recipe/meta.yaml	56
polymetis/include/polymetis/clients/franka_panda_client.hpp	50
polymetis/include/polymetis/utils.h	92
polymetis/include/polymetis/polymetis_server.hpp	98
polymetis/include/dtt.h	35
polymetis/include/real_time.hpp	102
polymetis/MANIFEST.in	7
polymetis/setup.py	39
polymetis/CPPLINT.cfg	1
polymetis/data/franka_panda/panda_arm.urdf	227
polymetis/data/kuka_iiwa/urdf/table_plane.urdf	31
polymetis/data/kuka_iiwa/urdf/iiwa7_ft_peg.urdf	437
polymetis/data/kuka_iiwa/urdf/hole_box_huge.urdf	140
polymetis/data/kuka_iiwa/urdf/iiwa7.urdf	401
polymetis/data/kuka_iiwa/urdf/table.mtl	13
polymetis/data/kuka_iiwa/urdf/triangle_0000.urdf	26
polymetis/data/kuka_iiwa/urdf/table.urdf	55
polymetis/data/kuka_iiwa/urdf/hole_box_large.urdf	140
polymetis/data/kuka_iiwa/urdf/iiwa7_table.urdf	457
polymetis/data/kuka_iiwa/urdf/iiwa7_ft.urdf	420
polymetis/data/kuka_iiwa/urdf/iiwa7_robotiq-2f.urdf	684
polymetis/data/kuka_iiwa/urdf/puck.urdf	32
polymetis/data/kuka_iiwa/urdf/hole_box.urdf	140
polymetis/data/kuka_iiwa/urdf/table_plane.mtl	11
polymetis/data/kuka_iiwa/urdf/iiwa7_transparent.urdf	401
polymetis/data/kuka_iiwa/urdf/box.urdf	32
polymetis/data/kuka_iiwa/launch/iiwa14_upload.launch	8
polymetis/data/kuka_iiwa/launch/iiwa7_upload.launch	8
polymetis/data/kuka_iiwa/xacro/ee_peg.xacro	34
polymetis/data/kuka_iiwa/xacro/iiwa7.xacro	296
polymetis/data/kuka_iiwa/xacro/utilities.xacro	16
polymetis/data/kuka_iiwa/xacro/iiwa14.urdf.xacro	13
polymetis/data/kuka_iiwa/xacro/iiwa.transmission.xacro	82
polymetis/data/kuka_iiwa/xacro/iiwa.gazebo.xacro	50
polymetis/data/kuka_iiwa/xacro/iiwa7.urdf.xacro	23
polymetis/data/kuka_iiwa/xacro/iiwa14.xacro	292
polymetis/data/kuka_iiwa/xacro/force_torque_sensor.xacro	24
polymetis/data/kuka_iiwa/xacro/ee_virtual.xacro	17
polymetis/data/kuka_iiwa/xacro/materials.xacro	32
polymetis/data/kuka_iiwa/xacro/robotiq_85.xacro	288
polymetis/data/kuka_iiwa/meshes/robotiq-2f/visual/base.mtl	12
polymetis/data/kuka_iiwa/meshes/robotiq-2f/visual/follower.mtl	12
polymetis/data/kuka_iiwa/meshes/robotiq-2f/visual/spring_link.mtl	12
polymetis/data/kuka_iiwa/meshes/robotiq-2f/visual/driver.mtl	12
polymetis/data/kuka_iiwa/meshes/robotiq-2f/visual/coupler.mtl	12
polymetis/conf/robot_model/franka_panda.yaml	10
polymetis/conf/robot_client/empty_statistics_client.yaml	18
polymetis/conf/robot_client/franka_sim.yaml	20
polymetis/conf/robot_client/franka_hardware.yaml	74
polymetis/conf/launch_robot.yaml	6
polymetis/conf/viz.yaml	19
polymetis/src/clients/franka_panda_client/franka_panda_client.cpp	250
polymetis/src/clients/empty_statistics_client.cpp	139
polymetis/src/polymetis_server.cpp	255
polymetis/src/torchscript_operators/pinocchio.cpp	135
polymetis/src/torchscript_operators/rotations.cpp	113
polymetis/src/run_server.cpp	47
pyproject.toml	19