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.

Dependencies

• OpenCV-Python for Ubuntu
• NumPy
• MediaPipe
• TensorFlow

Launch

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.

Grasp Gestures

0. Open Palms
1. Close fist
2. One pointer
3. Pinch Index Finger
4. Pinch Middle Finger
5. 3 Finger Grasp
6. 4 Finger Grasp

gestures.mp4

• Author of Fork: Ava Zahedi