https://github.com/ondrejbiza/fewshot

https://github.com/ondrejbiza/fewshot

Last synced: about 2 months ago
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• Host: GitHub
• URL: https://github.com/ondrejbiza/fewshot
• Owner: ondrejbiza
• Created: 2022-09-30T16:06:28.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2024-04-26T07:48:38.000Z (8 months ago)
• Last Synced: 2024-05-03T16:20:47.048Z (8 months ago)
• Language: Python
• Size: 324 MB
• Stars: 0
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Pick and Place via Object and Action Warping

## Generating a latent space of object warping

Generate and show, e.g., a latent space of mugs:

```

python -m scripts.learn_warp data/pca_ndf_mugs.pkl ndf_mugs --alpha 0.01 --n-dimensions 8 --pick-canon-warp

python -m scripts.viz.show_latent_space pca_ndf_mugs

```

Generate latent space of mugs, bowls, bottles, trees and boxes:

```

./shell_scripts/learn_warp.sh

```

## Real-world

### Start-up

```

cd launch

python main.py

```

Then, make sure all three cameras are running. You can check that in rviz.

Use Ctrl+C to close main.py and wait. If the shutdown doesn't finish properly, some drivers might keep running and you will need to restart the PC.

### Commands

```python -m scripts.real_world.record_demo bowl_on_mug pick.pkl place.pkl -c```

```python -m scripts.real_world.pick_place bowl_on_mug pick.pkl place.pkl -c```

### Troubleshooting

* One of the cameras repeatedly doesn't start. First, plug and unplug all USBs from the PC and restart main.py. If that doesn't help, restart the computer.

* Execution error. The UR5 driver disconnects from time to time. Restart main.py.

* Planning errors even for simple motions. The reference frame of UR5 sometimes breaks. Restart the robot.

* Protective stop. Enable the robot and restart main.py.

* Robot twists onto itself. On the robot's table, go to program robot -> move -> home. Slowly move the robot to its home position.