Imperial_Robotics_Project

Individual Project for MSc. Advanced Computing at Imperial College London

🚀 Quick Start

# Terminal 1
./run_physical.sh
# or
roslaunch interbotix_xsarm_control xsarm_control.launch robot_model:=vx300s

# Terminal 2
python3 main.py

# Terminal 1
./run.sh
./run_gazebo.sh

# Terminal 2
python3 main.py

The entrypoint script main.py accepts flags to enable/disable optional components:

Default run (GUI + Rerun enabled):
```
python3 main.py
```
Disable Rerun visualiser:
```
python3 main.py --no-rerun
```
Disable Mapper GUI:
```
python3 main.py --no-gui
```
Disable video saving:
```
python3 main.py --no-video
```
Enable end-effector (EE) camera view recording:
```
python3 main.py --ee-cam
```

Headless mode (no GUI, no Rerun, no video):

python3 main.py --no-rerun --no-gui --no-video

Name		Name	Last commit message	Last commit date
Latest commit History 11 Commits
experiment_tools		experiment_tools
hamer		hamer
hamer_to_onnx		hamer_to_onnx
interbotix_xsarm_descriptions		interbotix_xsarm_descriptions
trac_ik		trac_ik
.gitattributes		.gitattributes
.gitignore		.gitignore
README.md		README.md
__init__.py		__init__.py
config.py		config.py
hand_reconstruction_threading.py		hand_reconstruction_threading.py
main.py		main.py
mapper_gui.py		mapper_gui.py
mediapipe_worker.py		mediapipe_worker.py
requirements.txt		requirements.txt
rerun_ui.py		rerun_ui.py
robot_controller.py		robot_controller.py
run.sh		run.sh
run_gazebo.sh		run_gazebo.sh
run_physical.sh		run_physical.sh
tf_broadcaster.py		tf_broadcaster.py
utils.py		utils.py
vision_processor.py		vision_processor.py
vx300s.urdf		vx300s.urdf
vx300s.urdf.xacro		vx300s.urdf.xacro
vx300s.yaml		vx300s.yaml