Go1-Gesture-Command
This repository contains two packages for using hand gestures to send motion commands to the Unitree Go1:
- ros2_hgr
- A ROS2 Python package with code forked from Kinivi's repository linked here (insert link here) that uses computer vision, Mediapipe, and a machine learning model to detect 8 different hand gestures.
- go1_cmd
- A ROS2 C++ package that utilizes pre-defined finger positions to mimic gestures in the robot hand.
ros2 launch ros2_hgr hgr.launch.xml
- The ros2_hgr launch file has defaults set to run the hgr_node with your computer's built-in webcam.
- Open Palms
- Close fist
- One pointer
- Pinch Index Finger
- Pinch Middle Finger
- 3 Finger Grasp
- 4 Finger Grasp
gestures.mp4
- Author of Fork: Ava Zahedi