cd src/ndf_robot/demonstrations
python label_demos.py --exp test_bottle --object_class bottle --with_shelf
The script at demonstrations/label_demos.py runs a super simple teleoperation setup for moving around a simulated Panda robot in PyBullet. We use it to provide grasping and placing demonstrations in our table+rack or table+shelf environments.
The keys Q|E|A|D|S|X are used to move down|up|left|right|forward|back. The keys Z|C are used to open|close the gripper. The keys U|O|I|K|J|L are used to rotate about the X|Y|Z axes of the gripper.
At each step, a random object will be sampled and initialized in the environment. The 1 key can be used to save the current gripper pose as a grasp and the 2 key can be used to save the current gripper pose as a place.
Note that this pipeline is also where the query points that are used in the pose optimization are sampled and saved.