Contact-IL -- Top Level Repository

The following is a meta-repository containing all of the packages required to run code for the Contact/STS Imitation Learning project.

Internally Developed Libraries in this Package

• contact-il: The contact_il package that runs most of the imitation learning code, including demonstration collection and testing, as well as config parameters to be used with learning code from place_from_pick_learning.
• panda-polymetis: An interface between Meta's polymetis and the environments used in this package.
• contact-panda-envs: Gym environments for contact/tactile tasks to be used with a simulated or real Franka Panda.
• sts: A library for processing sts data.
• pysts: Sensor interfacing code that can be used to acquire STS data.
• transform_utils: A set of generic utilities for working with SO3 and SE3 transformations.
• place_from_pick_learning: Code based on another project used for training policies.

Third Party Dependencies

Installation instructions for these packages are all found in the contact-il sub-package.

• polymetis
• torchvision
• inputs

Data

The training and testing datasets corresponding to this project are currently closed-source and owned by Samsung.