Interesting project

[CAN-Lee]

Hi,

Thanks for your projects.

Is this visual servoing based on the position of the thumb？

Thanks

[DaeyunJang]

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:

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Hi, Thanks for your projects. Is this visual servoing based on the position of the thumb？ Thanks — Reply to this email directly, view it on GitHub <#2>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AXWIAQ4ULL4UCW7ASDAVPWL2LZGCLAVCNFSM6AAAAABVSSI4WGVHI2DSMVQWIX3LMV43ASLTON2WKOZSHAYDCOJRGM4DSMI> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[CAN-Lee]

Thanks for your reply.

I am thinking an application of hand-to-robot handover that may be combined with your project.

Thanks

[DaeyunJang]

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.

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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)

[CAN-Lee]

Many thanks for your kind reply !!!