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Hello, Can Li.🙂
Position of the ‘index finger tip’, actually.
If you want to move the robot while servoing thumb, you can modify the code
in line 306, 307 of
“src/handpose_pkg/handpose_pkg/handpose_indexfinger_publisher.py”.
👉modify index 8 to any number you choosen.
g_hand_data[8, 0]
g_hand_data[8, 1]
Thank you.
2025년 1월 21일 (화) 오후 10:50, Can Li ***@***.***>님이 작성:
That's impressive! 👍
And thank you for looking at it so positively.
Actually, I worked on a similar project about 'robot-to-hand' with gripper.
At that time, I used the Mediapipe and a Realsense camera to estimate the position of the hand.
And I set this hand pose as the target value for the robot's position control.
Tips (Personal 😁)
If the least distance detection specification of the camera is too short, real-time tracking during hand-to-robot handover can become inaccurate when the hand and the robot's end-effector are close to each other.
During the project, I didn't utilize the ROS2 system, so I mainly worked with the files in the /scripts directory.
Since I wrote the ROS2 code later for tracking verification, I must admit that the coding style is a bit inconsistent -- my apologies for that..haha
If there are any lines of code you don't understand, feel free to aks! I'll explain them to you anytime (feedback, also)
Activity
DaeyunJang commentedon Jan 21, 2025
CAN-Lee commentedon Jan 24, 2025
Thanks for your reply.
I am thinking an application of hand-to-robot handover that may be combined with your project.
Thanks
DaeyunJang commentedon Jan 24, 2025
That's impressive! 👍
And thank you for looking at it so positively.
Actually, I worked on a similar project about 'robot-to-hand' with gripper.
At that time, I used the Mediapipe and a Realsense camera to estimate the position of the hand.
And I set this hand pose as the target value for the robot's position control.
Tips (Personal 😁)
If the least distance detection specification of the camera is too short, real-time tracking during hand-to-robot handover can become inaccurate when the hand and the robot's end-effector are close to each other.
During the project, I didn't utilize the ROS2 system, so I mainly worked with the files in the
/scriptsdirectory.Since I wrote the ROS2 code later for tracking verification, I must admit that the coding style is a bit inconsistent -- my apologies for that..haha
If there are any lines of code you don't understand, feel free to aks! I'll explain them to you anytime (feedback, also)
CAN-Lee commentedon Jan 24, 2025
Many thanks for your kind reply !!!