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kovis_visualservo's Issues

Run inference in simulation?

Hi!
Thank you for the great work, your code is consice and easy-understandable. However, I didn't find an option to run the model in inference mode using PyBullet simulation and not the real robot. Is there such possibilty?
I'm not sure I want to risk my UR and the setup in the laboratory.

Thanks in advance!

Could not multiply by non-number

Hi Enyen,

Thanks for sharing the code! I have trained a kovis1 model and use the command rob.servo('pick_tube', 10, [0.01, 0.01, 0.01, 0.05, 0, 0], [0.1, 5]) to test it.
I printed the velocity and orientaion:

Velocity: [tensor(0.0022), tensor(0.0024), tensor(0.0024), tensor(-3.7409e-06), 0, 0]
Orientation: <Orientation: RV(-1.086, -0.000, -0.000)>

Are they reasonable? Then an error raised:

Traceback (most recent call last):
  File "/home/lab_cheem/miniforge3/envs/kovis1-2.7/lib/python3.8/threading.py", line 932, in _bootstrap_inner
    self.run()
  File "/home/lab_cheem/miniforge3/envs/kovis1-2.7/lib/python3.8/threading.py", line 870, in run
    self._target(*self._args, **self._kwargs)
  File "/home/lab_cheem/catkin_ws/src/WP2/kovis1/inference_oja.py", line 204, in _watch_servo
    self.rob.speedl_tool(vec, ACCE, t)
  File "/home/lab_cheem/.local/lib/python3.8/site-packages/urx/robot.py", line 176, in speedl_tool
    v = pose.orient * m3d.Vector(velocities[:3])
  File "/home/lab_cheem/.local/lib/python3.8/site-packages/math3d/vector.py", line 455, in __rmul__
    raise utils.Error('__rmul__ : Could not multiply by non-number')
math3d.utils.Error: __rmul__ : Could not multiply by non-number

This seems to be an internal issue in python urx. I searched this but found no solution. Did you encounter this problem before? Any suggestion is appreciated. Thanks!

Regards,
Daiying

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