CommandCenter

Gesture control for the Vision Q60 sim, plus a webcam pose demo.

Setup

1. Create and activate a Python env (3.10+ recommended).
2. Install Python deps:

pip install -U openmim
mim install "mmcv>=2.0.1" "mmengine>=0.10.0" "mmdet>=3.2.0" "mmpose>=1.3.0"
pip install -r requirements.txt

3. Install ROS 2 Jazzy and Gazebo Harmonic, then build the workspace:

source /opt/ros/jazzy/setup.bash
cd ros2_ws
colcon build --symlink-install

Run the sim

source /opt/ros/jazzy/setup.bash
source ros2_ws/install/setup.bash
ros2 launch vision60_gesture_control gesture_control.launch.py

Run the hand gesture controller

source /opt/ros/jazzy/setup.bash
source ros2_ws/install/setup.bash
python scripts/hand_gesture_commands.py \
  --camera-id 0 --backend v4l2 --pixel-format MJPG \
  --width 1280 --height 720 --repeat-ms 300 \
  --debug-overlay --ros2

Run the pose webcam demo

python scripts/run_webcam.py \
  --device cuda:0 \
  --camera-id 2 \
  --det-model rtmdet_x_8xb32-300e_coco \
  --pose-model td-hm_hrnet-w48_8xb32-210e_coco-wholebody-384x288