Repo for teleoperating the ORCA Hand consisting of an Ingress Source (for example Mediapipe, Apple Vision Pro, Rokoko Gloves, etc.) and a URDF-based Retargeter.
The Retargeter in orca_teleop requires pytorch_kinematics, but its newest pip package has no numpy>2 support yet. This is why you need to install pytorch_kinematics from source into your venv for the moment:
git clone https://github.com/UM-ARM-Lab/pytorch_kinematics.git
cd pytorch_kinematics
pip install -e .
Steer your own ORCA hand using just your webcam:
python scripts/mediapipe_teleop_demo.py path/to/your_orcahand_model path/to/corresponding_urdf_file