orca_core 0.1.6

Core Python Controller of the ORCA Hand. Handles all hardware interaction, logic and abstracts control. Provides API for basic functionality and info of the hand.

OrcaHand class is used to abstract hardware, control the hand of the robot with simple high-level control methods in joint space.

Orca Core

OrcaHand class is used to abtract hardware, control the hand of the robot with simple high level control methods in joint space.

Get Started

To get started with Orca Core, follow these steps:

1. Clone the repository:

   git clone [e-mail]:orcahand/orca_core.git
   cd orca_core
   

2. Install dependencies using Poetry:

   poetry install
   

3. Run the example usage:

   # Example usage
   from orca_core import OrcaHand
   
   hand = OrcaHand()
   status = hand.connect()
   print(status)
   hand.calibrate()
   
   # Set the desired joint positions to 0
   hand.set_joint_pos({joint: 0 for joint in hand.joint_ids})
   hand.disconnect()
   

Config file

The configuration file core/orca_config.yaml is specific to the hand (currently the only hand we have) and defines everything from auto calibration, joint limits, and control settings. This file is crucial for the proper functioning of the OrcaHand class.