DIME Inverse Kinematics Based Tele-Operation

This repository is part of the official implementation of DIME. It contains the package for performing TeleOp using an Allegro Hand attached to a Kinova Arm.

Setup instructions

• Setup the ar-tracker-alvar and Realsense ROS packages before using this package.
• Also install the librealsense SDK with the appropriate python wrapper.
• Clone the repository and use the following command to install the package:

pip3 install -e .

Running the teleop script.

• To run the hardware teleop:

cd <path-to-this-repository>/ik_teleop
python3 teleop.py

• To run the simulation teleop:

cd <path-to-this-repository>/ik_teleop
python3 sim.py

Citation

If you use this repo in your research, please consider citing the paper as follows:

@article{arunachalam2022dime,
  title={Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation},
  author={Sridhar Pandian Arunachalam and Sneha Silwal and Ben Evans and Lerrel Pinto},
  journal={arXiv preprint arXiv:2203.13251},
  year={2022}
}