facebookresearch / polymetis
Write PyTorch controllers, test them in simulation, and seamlessly transfer to real-time hardware.
Summary
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| Main Code: 13,437 LOC (141 files) = URDF (53%) + XACRO (17%) + PY (13%) + CPP (6%) + YAML (2%) + HPP (1%) + MTL (1%) + H (<1%) + PROTO (<1%) + YML (<1%) + LAUNCH (<1%) + TOML (<1%) + IN (<1%) + CFG (<1%) Secondary code: Test: 1,438 LOC (41); Generated: 0 LOC (0); Build & Deploy: 166 LOC (8); Other: 297 LOC (12); |
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| Duplication: 74% | |||
| File Size: 0% long (>1000 LOC), 36% short (<= 200 LOC) | |||
| Unit Size: 0% long (>100 LOC), 64% short (<= 10 LOC) | |||
| Conditional Complexity: 0% complex (McCabe index > 50), 82% simple (McCabe index <= 5) | |||
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Logical Component Decomposition: primary (21 components) | ||
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7 months old
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0% of code updated more than 50 times Also see temporal dependencies for files frequently changed in same commits. |
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| Goals: Keep the system simple and easy to change (4) | |||
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Features of interest:
TODOs
3 files |
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Latest commit date: 2021-07-01
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