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DEPLOY.md

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🤖 Deployment

  1. Adjust the constant parameters in utils/constants.py according to your own environment.

    • IMG_MEAN and IMG_STD are the image normalization constants. Here we use ImageNet normalization coefficients.
    • TRANS_MIN and TRANS_MAX are the tcp normalization range in the camera coordinate.
    • MAX_GRIPPER_WIDTH indicates the gripper width normalization range (in meter).
    • WORKSPACE_MIN and WORKSPACE_MAX are the workspace range in the camera coordinate.
    • SAFE_WORKSPACE_MIN and SAFE_WORKSPACE_MAX are the safe workspace range in the base coordinate (used for evaluation).
    • SAFE_EPS denotes the safe epsilon of the safe workspace range. Therefore, the real range should be [min + eps, max - eps].
    • GRIPPER_THRESHOLD denotes the gripper moving threshold (in meter) to avoid gripper action too frequently during evaluation.

  2. Add the device support libraries of your own devices in the device folder.

  3. Modify eval_agent.py to accomodate your own device.

    • Implement the __init__(...) function to initialize the devices. Move the robot to the ready pose, activate the gripper, start the camera, and flush the camera stream.
    • Implement the intrinsics property to return the intrinsics of the camera.
    • (Optional) Implement the ready_pose property to define the ready pose of the robot.
    • Implement the ready_rot_6d property to define the 6d rotation representation of the ready pose's rotation part.
    • Implement the get_observation() function to get the RGB and depth observations from the camera.
    • Implement the set_tcp_pose(...) function to set the tcp pose of the robot. The pose can be defined in any rotation representation, and feel free to use the xyz_rot_transform function in utils/transformation.py for rotation transformations. Also, implement the blocking option to block the robot moving process.
    • Implement the set_gripper_width(...) function to set the width of the gripper. Notice you might need to encode the original width (in meter) to the corresponding signal following the documentations of the gripper.
    • Implement the stop() function to stop the devices.