enyen puang

I got the same error, and then I install libcoin80-dev, libsoqt4-dev and their dependencies (whenever requested) manually from https://packages.ubuntu.com/bionic/libcoin80-dev and so on.

Have to remove unhandled `` tag in urdf when using `URDFLoader`(Sapien3.0.0b1) to avoid: > Error in SVD: NaN encountered

indeed it seems to be an issue with urx and math3d. Maybe you could try to revert math3d to an earlier version https://gitlab.com/morlin/pymath3d/-/tags

https://github.com/enyen/KOVIS_VisualServo/blob/5ea1d9abe1a6c9c99fb3c2046e16251d9e57b10f/inference_oja.py#L158 The code `move_tcp_perpendicular` everytime before running the servo, so you could modify this line according to your application.

> Hi Enyen, thanks for the response, however this is at the inference stage right? Wouldnt we want to train the robot in that horizontal end position from the training...

use `cam_clip` to limit camera range and avoid seeing robot base https://github.com/enyen/KOVIS_VisualServo/blob/5ea1d9abe1a6c9c99fb3c2046e16251d9e57b10f/cfg/dataset_insert_plug.yaml#L34

The speed loss does not look good. Is the training data generated correctly? You can check by verifying the poses in first step of all episodes are correct. Yes, you...

yes, camera pose is randomized in every images. You can turn it off at https://github.com/enyen/KOVIS_VisualServo/blob/5ea1d9abe1a6c9c99fb3c2046e16251d9e57b10f/cfg/dataset_insert_plug.yaml#L33

When `inference=True`, keypoints from left and right images are concatenated: https://github.com/enyen/KOVIS_VisualServo/blob/5ea1d9abe1a6c9c99fb3c2046e16251d9e57b10f/train_model.py#L69 You can seperate the `enc` and `cvt` in `init_network()`: ```diff - setattr(self, 'net_servo_{}'.format(net), torch.nn.Sequential(enc, cvt)) + setattr(self, 'net_enc_{}'.format(net), enc)...

`h` and `w` make up a points at the first and second axis of the 2D feature map; `m` is the magnitude or intensity of the point. https://github.com/enyen/KOVIS_VisualServo/blob/5ea1d9abe1a6c9c99fb3c2046e16251d9e57b10f/train_model.py#L114