AlignIt

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)

Getting Started

# 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

Development

# Install the package in editable mode
git clone https://github.com/SpesRobotics/alignit.git
cd alignit
pip install -e .

# Run tests
python -m pytest