Metadata-Version: 2.4
Name: alignit
Version: 0.0.1
Summary: Model-free real-time robot arm alignment using one or more RGB(D) cameras.
Author: Spes Robotics
Author-email: contact@spes.ai
License: Apache 2.0
Project-URL: Documentation, https://github.com/SpesRobotics/alignit
Project-URL: Source, https://github.com/SpesRobotics/alignit
Project-URL: Tracker, https://github.com/SpesRobotics/alignit/issues
Requires-Python: >=3.8
Description-Content-Type: text/markdown
License-File: LICENSE
Requires-Dist: torch
Requires-Dist: torchvision
Requires-Dist: numpy
Requires-Dist: datasets
Requires-Dist: gradio
Requires-Dist: transforms3d
Requires-Dist: tqdm
Requires-Dist: matplotlib
Requires-Dist: mujoco
Requires-Dist: numpy
Requires-Dist: teleop[utils]
Requires-Dist: xarm-python-sdk
Requires-Dist: draccus
Requires-Dist: lerobot
Dynamic: author
Dynamic: author-email
Dynamic: description
Dynamic: description-content-type
Dynamic: license
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Dynamic: project-url
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# AlignIt

Model-free real-time robot arm alignment using one or more RGB(D) cameras.


| ![Data Recording](https://github.com/SpesRobotics/alignit/raw/main/media/record.gif) | ![Model Training](https://github.com/SpesRobotics/alignit/raw/main/media/train.gif) | ![Inference](https://github.com/SpesRobotics/alignit/raw/main/media/inference.gif) |
|:------------------------------------:|:-----------------------------------:|:----------------------------------:|
| **Record an Object** <br> (data is being automatically collected and labeled) | **Train the Model**                  | **Align It** <br /> (model outputs relative poses to align the gripper with the object)                     |


### Getting Started

```bash
# 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

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

# Run tests
python -m pytest
```
