pHRI-Vision-Robot-Workstation

Design of a workstation with visual and tactile sensing for physical human-robot interaction

Installation

Clone the repository by executing:

git clone https://github.com/TaISLab/pHRI-Vision-Robot-Workstation.git

Build the keypoints3d_ws workspace:

cd /path/to/pHRI-Vision-Robot-Workstation/keypoints3d_ws/
catkin_make
catkin_make install

Bag files

Download the bag files from the Kaggle dataset:

https://www.kaggle.com/datasets/jesusgomezdegabriel/human-upper-limb-joints-with-vision-only-for-phri/data

Visualize the data on RViz

Source the workspace and execute on a terminal:

source /path/to/pHRI-Vision-Robot-Workstation/keypoints3d_ws/install/setup.bash
roslaunch keypoints_3d keypoint_skeleton.launch use_rviz:=true

Play the rosbag file on another terminal:

cd /path_to_bag_files/
rosbag play <exercise_file.bag>

Visualization_example_dataset_V01_1.mp4

Funding

MICIU / AEI / FEDER

This work is part of project PID2021-127221OB-I00 (CONCERTO — Control Colaborativo para Interacción física Empática entre RoboT y humanO), funded by MICIU/AEI/10.13039/501100011033/FEDER, UE.