TIAGo Hand Control with MediaPipe

This project enables real-time teleoperation of the TIAGo robot's right hand in the Webots simulator using a standard webcam and MediaPipe hand tracking.

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📂 Project Structure

tiago_hand_control/
├── controllers/
│   └── hand_controller/
│       └── hand_controller.py   # Webots Robot Controller (TCP Server)
└── mediapipe_bridge.py          # Vision Script (TCP Client)

🛠️ Installation

Prerequisites

• Webots: A recent version of the Webots simulator installed.
• Python 3.x: Installed on your host machine.

Dependencies

Install the required Python libraries for the vision bridge:

pip install opencv-python mediapipe

🚀 How to Run

• 1: Launch Webots: Open your world containing the TIAGo robot.
• 2: Set Controller: Ensure the TIAGo robot's controller is set to hand_controller.py.
• 3: Start Simulation: Click the Play button in Webots. The console will display: [Socket] En attente sur localhost:5005 ....
• 4: Run the Bridge: In a separate terminal, run the vision script:

python mediapipe_bridge.py