orca-core

Orca Core is the core control package of the ORCA Hand. It's used to abstract hardware, provide scripts for calibration, tensioning and to control the hand with simple high-level control methods in joint space.

Get Started

To get started with Orca Core, follow these steps:

Sync a local development environment with uv:
```
uv sync --group dev
```
This creates a local .venv and installs the package plus development dependencies.
Run commands through uv:
```
uv run pytest
```
If you prefer an activated shell, you can still use:
```
source .venv/bin/activate
```
End users who do not use uv can still install the package with:
```
pip install .
```
Check the configuration file:
- Review the config file (e.g., orca_core/models/v2/orcahand-right/config.yaml) and make sure it matches your hardware setup.

Run the tension and calibration scripts:

uv run python scripts/tension.py orca_core/models/v2/orcahand-right/config.yaml
uv run python scripts/calibrate.py orca_core/models/v2/orcahand-right/config.yaml

Replace the path with your specific hand model folder if needed.

Move the hand to the neutral position:

uv run python scripts/neutral.py orca_core/models/v2/orcahand-right/config.yaml

Troubleshooting

Serial Port Permissions (Linux)

On Linux, the serial port (e.g., /dev/ttyACM0) is owned by the dialout group. If your user is not in this group, you will get a permission denied error and motors won't be detected.

Permanent fix (requires re-login):

sudo usermod -aG dialout $USER

Temporary fix (resets on reboot/replug):

sudo chmod 666 /dev/ttyACM0

Serial port, baudrate, and motor type

By default these are all auto-detected at connect time.

However, you can declare them explicitly in config.yaml. Useful when:

multiple hands are connected at once → port disambiguates which one
motors run at a non-default baudrate → baudrate skips the probe sweep
the auto-detection picks the wrong family → motor_type forces a specific one

# Optional overrides:   auto-detected if omitted
port: /dev/ttyACM0      # or /dev/cu.usbmodemXXXX on macOS
baudrate: 1000000       # 1M for v2; 3M for v1
motor_type: dynamixel   # or 'feetech'

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