Model-free real-time robot arm alignment using one or more RGB(D) cameras.
 |
 |
 |
|---|---|---|
| Record an Object (data is being automatically collected and labeled) |
Train the Model | Align It (model outputs relative poses to align the gripper with the object) |
# Record a dataset
python -m alignit.record --dataset.path=./data/test
# Use the dataset to train a model
python -m alignit.train --dataset.path=./data/test --model.path=./data/test_model.pth
# Visualize dataset
python -m alignit.visualize --dataset.path=./data/test
# Run inference
python -m alignit.infere --model.path=./data/test_model.pth# Install the package in editable mode
git clone https://github.com/SpesRobotics/alignit.git
cd alignit
pip install -e .
# Run tests
python -m pytest