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Real-time motor control for seamless development, testing, and deployment across simulation and hardware

motorium 최신버젼 다운로드

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# Motorium

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Motorium is a high-performance, realtime-safe framework for robot control, designed to allows the rapid development, testing and deployment of controllers (RL, IL, Model Based, ect.) across hardware and simulators. It prioritizes deterministic execution, cache locality, and type safety.

## Key Design Principles
Robot data must often be accessed in different subsets, orders, and formats across a robotics stack to satisfy the requirements of various components and libraries (controllers, simulators, drivers etc.). Motorium addresses this by storing robot data in a centralized, real-time–safe structure and exposing it through uniquely assigned integer IDs (e.g., for joints and sensors) for seamless integration across simulation and hardware.

### Realtime Data Structures
At the core of Motorium is the **`FixedIDArray`**, a lightweight, fixed-size container optimized for realtime control loops.
- **Zero Allocations**: All storage has to be allocated at construction time.
- **Dense Indexing**: Uses dense, zero-based integer IDs for fast deterministic access.
- **Cache Friendly**: Data is stored contiguosly, ensuring optimal cache coherence.
- **Eigen Interopability**: Seamlessly extracts data into Eigen vectors for math-heavy control logic without copying overhead where possible.

### Construction Time Name-to-Index Mapping
For humans, configuring robot control systems via names is convenient, butString lookups are expensive and non-deterministic. Motorium solves this by resolving all symbolic names to unique integer indices at **construction time**.
- **`RobotDescription`**: Builds an immutable mapping of Joint Names $\to$ unique joint indices based on a robot model (e.g. URDF).
- **Construction-Time Resolution**: Drivers and Controllers use the `RobotDescription` to resolve names to indices at construction time.
- **Runtime Efficiency**: The control loop operates exclusively on indices, guaranteeing safe, bounds-checked, and instant access to system state.

### Hardware Abstraction Layer (HAL)
The modular HAL allows the same controller code to run on simulated and real hardware without modification.
- **`RobotHAL`**: The central interface exposing `RobotState` and `RobotJointFeedbackAction` to the control loop.
- **`DriverBase`**: Abstract base class for implementing specific backend drivers (e.g., MuJoCo simulation, EtherCAT masters, CAN bus interfaces).

motorium

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