Python ARTUS Robotic Hand API

A Python API for controlling the ARTUS family of robotic hands (Lite, Lite+, Talos, Scorpion, Dex) by Sarcomere Dynamics Inc., over RS485/Modbus RTU or TCP.

Please contact the team if any issues arise through use of the API. See Software License.

[!IMPORTANT] Please read through this entire README and the User Manual before using the ARTUS hand. See the changelog folder for release notes and updates.

Table of Contents

• Quick Start
• Supported Hardware
• Documentation Map
• 1. Getting Started
  • 1.1 Software Requirements
  • 1.2 Installing the Python API
  • 1.3 Hardware Requirements
• 2. Basic Usage
  • 2.1 Normal Startup Procedure
  • 2.2 Normal Shutdown Procedure
  • 2.3 LED States
  • 2.4 Running general_example.py
• 3. Control Examples
  • 3.1 GUI
  • 3.2 Manus Glove Teleoperation
  • 3.3 MediaPipe Teleoperation
• Revision Control
• Appendix

Quick Start

For readers who already know their way around Python and just want the shortest path from clone to a moving joint:

1. Install Python 3.10–3.13.
2. Connect the hand's power harness and USB-C data cable (see 1.3).
3. Set your hand model/port in examples/config/robot_config.yaml.
4. Run examples/general_example/general_example.py and follow the prompts.

Everyone else, continue with Getting Started below — it walks through each of these steps in detail.

Supported Hardware

Every hand variant supported by the API has its own README covering wiring, joint maps, and calibration requirements specific to that model. Start there once your hand is connected.

[!IMPORTANT] Talos and Scorpion will not enter an active targeting state until calibrate() has been run. See 2.1 Normal Startup Procedure.

Before updating firmware or the API package, check docs/COMPATIBILITY.md for which versions are known to work together.

Documentation Map

Short guides for navigating the tree — useful if you are new to robotics or to this repo:

1. Getting Started

The first step to working with an ARTUS hand is connecting to it and achieving joint control and feedback. It is highly recommended that this be done for the first time via the general example program. The sections below walk through everything needed to get there.

1.1 Software Requirements

• Python 3.10–3.13 — download here. On Windows, enable "disable PATH length limit" during setup.
• FTDI USB driver (Windows only) — required for the hand to be recognized as a USB device over USB-C. Download here.

[!NOTE] If you have multiple Python installations, make sure your pip commands target the same interpreter you'll use to run the API. Prefix commands with the full path to the intended python.exe/python3, or use a virtual environment.

1.2 Installing the Python API

There are two ways to install, depending on whether you plan to modify the source.

Use the cloned repository (for contributors / source changes)

git clone <this-repo>
cd Sarcomere_Dynamics_Resources
pip install -r requirements_v2.txt

1.3 Hardware Requirements

Connect power and data using the supplied cables. Please see robot's exact documentation pages for specific wiring.

[!NOTE] Wiring may vary by model — always check the hardware README for your specific hand.

_{Example wiring for Artus Lite: The diagram above shows the required wiring layout for the Artus Lite hand, including power, ground, and data connections. Always reference your hand model’s specific documentation for any model-specific differences before wiring.}

2. Basic Usage

This section covers basic usage via ArtusAPI_V2 (see ArtusAPI/artus_api_new.py), the only supported entry point in this repository.

2.1 Normal Startup Procedure

1. Check hardware — confirm the power connector is secure and, if using a wired connection (Serial or CANbus), that the cable is good.
2. Connect — creating an ArtusAPI_V2 instance calls connect() internally. If you disconnect manually, call connect() again before continuing.
3. Wake up — call wake_up() with the control mode appropriate for your application so the hand loads its configuration and enters a ready state.
4. Calibrate (if required) — run calibrate() if your model requires it (see Supported Hardware). Otherwise the hand is ready to accept targets and report feedback.

[!NOTE] Exact wake_up() parameters (e.g. position vs. velocity control) depend on your script — see examples/general_example/general_example.py and docs/API Functionality.md.

2.2 Normal Shutdown Procedure

1. Send a zero position command to all joints so the hand opens.
2. Once open, call sleep() to save parameters to the SD card (if applicable).
3. Wait for the ACK — once received, the device can be powered off.

[!NOTE] Unlike the Artus Lite mk8 (which saved to SD card periodically), saving is now intentional and only happens on sleep().

2.3 LED States

See the hardware README for your specific hand.

2.4 Running general_example.py

See the General Example README for full instructions.

3. Control Examples

3.1 GUI

Desktop UI for interactive testing. See the Artus GUI README.

3.2 Manus Glove Teleoperation

Drive an ARTUS hand from a Manus glove in real time. See the Manus Glove README.

3.3 MediaPipe Teleoperation

Drive an ARTUS hand from a webcam using Google MediaPipe hand tracking. See the MediaPipe Control README.

Revision Control

Appendix

• Artus API (ArtusAPI_V2) — Main Python class that talks to ARTUS hands (Lite, Lite+, Talos, Scorpion, Dex, and related variants). The legacy v1 artus_api.py entry point has been removed from this repository.
• API Docs — Background on the reasoning behind the API's functions.