Poseless: Direct Hand-to-Robot Joint Angle Estimation

Poseless is a project that enables direct estimation of robot hand joint angles from human hand input without requiring complex 3D skeleton structure or pose estimation pipelines. This simplified approach provides a more efficient way to map human hand movements to robotic hand control.

Overview

The system directly maps human hand input to robot joint angles, bypassing the need for intermediate 3D pose estimation. This approach offers:

• Reduced computational complexity
• Lower latency
• Direct joint angle mapping
• Simplified implementation

Getting Started

Prerequisites

• Python 3.x
• Required dependencies please check requirements.txt

Installation

# Clone the repository
git clone https://github.com/yourusername/poseless.git
cd poseless

# Install dependencies (to be added)
sudo apt update                                                                                                                                    
sudo apt install libegl1 libegl-dev
ldconfig -p | grep libEGL #check if 
pip install -r requirements.txt

Usage

To generate samples, use the following command:

export PYOPENGL_PLATFORM=egl
export MUJOCO_GL=egl  # Also set this.
python gen_multithread.py <number_to_generate> --dataset_name="your-username/hand-poses-dataset" --num_test_samples <num_test_samples>