A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU

Author's mail: [email protected]

This package presents a multimodal mobile teleoperation system that consists of a novel vision-based hand pose regression network (Transteleop) and an IMU-based arm tracking method.

Please cite this paper (A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU), if you use our released code.

• Project website: https://smilels.github.io/multimodal-translation-teleop/

• Preprint: https://arxiv.org/abs/2003.05212

• Video: https://www.youtube.com/watch?v=rAj2IWl2ezs

Prerequisites

OS

• ROS Kinetic and Ubuntu 16.04
• CUDA 10

Setup

1. Install Anaconda and PyTorch.
2. Install python packages in a new environment

   conda upgrade --all
   conda create -n teleop python=[PYTHON_VERSION] numpy ipython matplotlib mayavi yaml lxml seaborn pyyaml 
   conda activate teleop
   pip install rospkg numpy-stl tensorboardx pyquaternion pyassimp==4.1.3 visdom dominate

   Note: PYTHON_VERSION can be 3.7 if you do not need to use this package with ROS, otherwise use 2.7 or use python at /usr/bin/python
3. Clone this repo:

   git clone https://github.com/Smilels/multimodal-translation-teleop.git

Dataset Generation

• Follow the steps in TeachNet-Torch.

Model Training/testing

• If you want to train the network yourself instead of using a pre-trained model, follow the below steps.

• To prepare your dataset, and revise the corresponding options in scripts/ae_joint_train.sh.

• To run an experiment for 200 epoch:

  cd Transteleop
  bash scripts/ae_joint_train.sh
  

  If you want to train pix2pix baseline, in scripts, there has train_pix2pix.sh.

• To view training results and loss plots, run

  python -m visdom.server

  and click the URL http://localhost:8097.

• To view the accuracy results, Launch a tensorboard for monitoring:

  tensorboard --log-dir ./assets/log --port 8080

• Test the model (bash ./scripts/test_aejoint.sh):

• The test results will be saved to a html file here: ./results/YOUR_MODEL_NAME/test_latest/index.html.

RealsenseSR300 Demo on simulated hand

• Launch camera RealsenseSR300(realsense-ros, librealsense) (If you use the other camera which is suitable for close-range tracking, please use corresponding launch file).

• If you do not have a real camera, you can download the recorded example rosbag, and play the bag file:

  rosbag play [-l] example.bag

• Run Shadow hand in simulation.

• Run the demo code.

  • Change the correct topic name based on your camera.
  • Limit your right hand to the viewpoint range of [30°, 120°] and the distance range of [15mm, 40mm] from the camera.

  bash scripts/demo_moveit.sh

Citation

If you use this code for your research, please cite our papers.

@inproceedings{li2020Mobilerobot,
title={A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU},
author={Li, Shuang and Jiang, Jiaxi and Ruppel, Philipp and Liang, Hongzhuo and Ma, Xiaojian and Hendrich, Norman and Sun, Fuchun and Zhang, Jianwei},
journal={arXiv preprint arXiv:2003.05212},
year={2020}
}
@inproceedings{li2018vision,
  title={Vision-based Teleoperation of Shadow Dexterous Hand using End-to-End Deep Neural Network},
  author={Li, Shuang and Ma, Xiaojian and Liang, Hongzhuo and G{\"o}rner, Michael and Ruppel, Philipp and Fang, Bing and Sun, Fuchun and Zhang, Jianwei},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  year={2019}
}

Related Projects

Our code is inspired by

• TeachNet-Torch
• pytorch-CycleGAN-and-pix2pix