Recognition of Human Grasping Patterns for Intention Prediction in Collaborative Tasks

Important Links

• Sensors Article
• Kaggle Dataset

Installation Guide

The code in this repository was made to work with:

• Ubuntu 20.04.3 LTS
• ROS Noetic
• UR10e manipulator (Universal Robot 10 e-series)
• 2 Astra Pro RGB-D cameras

1. Install ROS Noetic.

2. (Optional) Install Docker to train machine learning models inside a container or to run the probability-based decision making node.

3. Follow the instructions in the following repositories to install them:

   • larcc_drivers
   • object_grasping_pattern_recognition

4. Clone this repository into your catkin workspace:

   cd ~/catkin_ws/src
   git clone https://github.com/pedromiglou/MRSI_Thesis_Action_Anticipation.git
   

5. Install additional system dependencies:

   sudo apt install libpq-dev python3-pip
   

6. Compile the catkin workspace:

   cd ~/catkin_ws && catkin_make
   

7. Install python requirements:

   cd ~/catkin_ws/src/MRSI_Thesis_Action_Anticipation
   pip install -r requirements.txt
   

Usage Guide

1. Launch the system:

   roslaunch pamaral_bringup pamaral_bringup_all.launch
   

2. Launch one of the decision making node:

   roslaunch pamaral_decision_making_block base_controller.launch
   

   or

   roslaunch pamaral_decision_making_block probabilities_controller.launch
   

   or

   roslaunch pamaral_decision_making_block rule_based_controller.launch
   

   or

   roslaunch pamaral_decision_making_block rule_based_controller+mediapipe.launch