/handheld-data-collection-manipulators

Hand-held Data Collection for Learning of Manipulation Tasks.

Primary LanguagePython

Demonstration Interface

[Report] [Presentation] [Recording]

Basic Setup

Configuration can be found in src/config.py

Data Collection

Record a session using record_session.py:

$ python scripts/record_session.py

This will save the recordings in the following format:

data/
└─ session_YYYYMMDD_HHMMSS/
   └─ episode_YYYYMMDD_HHMMSS.h5

Development

Install the package in "editable" mode. This creates a symbolic link from the site-package directory to your development directory, allowing for direct changes.

$ pip install -e .

When working in ARM-based architectures (Jetson etc.) install HDF5 manually because h5py will try to build from source. Because there's no pre-built package for ARM computers yet.

$ sudo apt-get install libhdf5-dev
$ pip install h5py

Install Libcanberra for cv2 visualization

RealSense SDK on Jetson

Convenience script from JetsonHacks

Camera Web Viewer

Running the server and making it publicly available on your network:

$ export FLASK_APP=web_viewer/app.py
$ flask run --host=0.0.0.0