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ROS Wrapper for Intel® RealSense™ Devices - DIME

This repository contains a modified version of the [Intel's realsense-ros] repository, which is part of the official implementation of DIME. The base repo containing all the information can be found at DIME - Models.

Installation Instructions

You need to install the librealsense API provided by Intel followed by ROS Noetic and then make the binaries using catkin_make command.

Running the ROSLaunch file

To run the ROSLaunch file, use the following command:

source <base-camera-dir>/devel/setup.bash
roslaunch realsense2_camera rs_camera.launch camera:=cam_<camera_number> serial_no:=<camera_serial_number>

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}
}