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# CRISP - **C**ompliant **R**OS2 Controllers for Learn**i**ng-Ba**s**ed Manipulation **P**olicies
*Authors: [Daniel San Jose Pro](https://danielsanjosepro.github.io)[^1], [Oliver Hausdörfer](https://oliver.hausdoerfer.de/)[^1], [Ralf Römer](https://ralfroemer99.github.io)[^1], Maximilian Dösch[^1], [Martin Schuck](https://amacati.github.io/) [^1] and Angela Schoellig [^1]*.
[^1]: The authors are with Technical University of Munich, Germany; TUM School of Computation, Information and Technology, Department of Computer Engineering, Learning Systems and Robotics Lab; Munich Institute of Robotics and Machine Intelligence.
-> A collection of real-time, C++ controllers for compliant torque-based control for manipulators compatible with `ros2_control`. Developed for deploying high-level learning-based policies (VLA, Diffusion, ...) and teleoperation on your manipulator. It is compatible with any manipulator offering an effort interface.
+You want to deploy your learning-based policy to your manipulator, or collect teleoperation data? `CRISP` provides the tools for that.
+
+- `CRISP` provides the `ros2_control` low-level controllers (compliant, real-time, C++, torque-based) and simple python interfaces `CRISP_PY` to interface with them. It is compatible with any manipulator offering an joint-level torque effort interface.
+
+- `CRISP` provides also a Gymnasium environment `CRISP_GYM` to deploy learning-based `LeRobot` policies and collect data in `LeRobotDataset` format.
_If you use this work, please cite it using the [bibtex](#citing) below._
-Check the [controllers (CRISP controllers) :simple-github:](https://github.com/utiasDSL/crisp_controllers) , robot [demos (CRISP controllers demos) :simple-github:](https://github.com/utiasDSL/crisp_controllers_demos), a simple [python interface (CRISP_PY) :simple-github:](https://github.com/utiasDSL/crisp_py), and a [Gymnasium wrapper (CRISP_GYM) :simple-github:](https://github.com/utiasDSL/crisp_gym) for real-world experiments.
+Check the [controllers (CRISP controllers) :simple-github:](https://github.com/utiasDSL/crisp_controllers), the simple [python interface (CRISP_PY) :simple-github:](https://github.com/utiasDSL/crisp_py), and a [Gymnasium wrapper (CRISP_GYM) :simple-github:](https://github.com/utiasDSL/crisp_gym) for real-world experiments.
+
!!! info "Aloha gripper for Manipulators"
Check out [aloha4franka](https://tum-lsy.github.io/aloha4franka/) for the gripper used in the videos.
@@ -32,31 +35,31 @@ Check the [controllers (CRISP controllers) :simple-github:](https://github.com/u
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Controllers: Franka Robot - Following a moving target while base joint follows a sine curve
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Controllers: Kinova Robot - Simulated robot with continuous joints and nullspace control
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Controllers: IIWA Robot - Impedance control in simulation
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+ 
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## Features
- 🐍 **Python interface** to move your ROS2 robot around without having to think about topics, spinning, and more ROS2 concepts but without losing the powerful ROS2 API. Check [CRISP_PY](https://github.com/utiasDSL/crisp_py) for more information and examples.
- 🔁 **Gymnasium environment** with utilities to deploy learning-based policies and record trajectories in LeRobotFormat. Check [CRISP_GYM](https://github.com/utiasDSL/crisp_gym).
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diff --git a/docs/stylesheets/extra.css b/docs/stylesheets/extra.css
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--- a/docs/stylesheets/extra.css
+++ b/docs/stylesheets/extra.css
@@ -21,6 +21,7 @@
justify-content: center;
border-radius: 12px;
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);
+ margin: 1rem 0.2rem;
}
.video-item video {
@@ -28,6 +29,30 @@
height: auto;
border-radius: 12px;
background-color: rgba(0, 0, 0, 0.0);
+ transition: filter 0.3s ease;
+}
+
+.video-item:hover video {
+ filter: grayscale(100%) brightness(0.5);
+}
+
+.video-item .hover-text {
+ position: absolute;
+ top: 50%;
+ left: 50%;
+ transform: translate(-50%, -50%);
+ color: white;
+ font-size: 0.8rem;
+ font-weight: 300;
+ text-align: center;
+ padding: 0.1rem;
+ opacity: 0;
+ transition: opacity 0.3s ease;
+ pointer-events: none;
+}
+
+.video-item:hover .hover-text {
+ opacity: 1;
}
.highlight .vc {
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}
.carousel-caption {
- font-size: 0.85rem;
+ font-size: 0.25rem;
padding: 0.8rem 1rem;
}
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right: 0.5rem;
}
}
+
+/* Robot Grid Styles */
+.robot-grid {
+ display: grid;
+ grid-template-columns: repeat(3, 1fr);
+ gap: 1rem;
+ margin: 1rem 0;
+}
+
+.robot-card {
+ position: relative;
+ overflow: hidden;
+ border-radius: 8px;
+ border: 1px solid #ddd;
+}
+
+.robot-card img {
+ width: 100%;
+ height: auto;
+ display: block;
+ transition: transform 0.3s ease, filter 0.3s ease;
+}
+
+.robot-card:hover img {
+ transform: scale(1.2);
+}
+
+.robot-card.greyscale img {
+ filter: grayscale(100%);
+}
+
+.robot-card.greyscale:hover img {
+ filter: grayscale(0%);
+}
+
+.robot-card .robot-name {
+ position: absolute;
+ bottom: 0;
+ left: 0;
+ right: 0;
+ background: rgba(0, 0, 0, 0.7);
+ color: white;
+ text-align: center;
+ padding: 0.5rem;
+ opacity: 0;
+ transition: opacity 0.3s ease;
+}
+
+.robot-card:hover .robot-name {
+ opacity: 1;
+}
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+
+ UR5 Robot using a CRISP controller to track a circular trajectory while being disturbed.
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+End-To-End policy stacking Lego bricks with the CRISP controllers.
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