Is there a cheaper solution than rekoko?

[Bailey-24]

The rekoko glove is too expensive. I can't afford it.
Is there a cheaper solution than rekoko?

[Ericcsr]

Thanks for your interest to our project! Supposedly any Mocap/VR glove can work, I think there are some cheaper options like Noitom or Stretch sense. Accuracy may be compromised for these alternatives though. We also understand this issue and is actively working on finding a cheaper solution

[Ericcsr]

I created a branch no_glove with use quest's hand tracking to replace rokoko, so far collected data can result in successful replay on real robot, haven't tested policy training with it.

[Bailey-24]

Thank you.

I have two question.
First, If you don't use gloves anymore, how do you mount the quest on your hand? Do you just hold it as usual?

Second, I don't have a real robot at the moment, can this remote collect data on omnigibson？

[Ericcsr]

1. We don't need to mount controller on the hand when collecting data, we are using Meta Quest build-in vision based hand tracking module to obtain both wrist and finger pose.
2. I am not sure what does it means by "remote collect data on omnigibson", supposedly collected data shall be used to train diffusion policy for a real robot. We haven't tested whether simulated environment can work or not as it is quite difficult to realistically build a digital copy of every objects involved in manipulation in a simulator.