RealHand-Python-SDK

Overview

RealHand Python SDK

English

Caution

• Please ensure that the dexterous hand is not running any other control methods, such as real_hand_sdk_ros, motion capture glove control, or other topics controlling the hand, to avoid conflicts.
• Please secure the dexterous hand to prevent it from falling during movement.
• Please ensure the dexterous hand's power and USB-to-CAN connection are correct.

Name	Version	Link
Python SDK
ROS SDK
ROS2 SDK

Installation

  You can run the examples after installing the dependencies in requirements.txt. Only Python 3 is supported.

• download

$ git clone https://github.com/XXXXXXDU/realhand-ros2-sdk.git

• install

$ pip3 install -r requirements.txt

RS485 Protocol Switching (Currently supports O6/L6/L10. For other models, please refer to the MODBUS RS485 protocol document)

Edit the config/setting.yaml configuration file and modify the parameters according to the comments inside. Set MODBUS: "/dev/ttyUSB0", meaning the "modbus" parameter in the configuration file should be "/dev/ttyUSB0". The USB-RS485 converter usually appears as /dev/ttyUSB* or /dev/ttyACM* on Ubuntu. modbus: "None" or "/dev/ttyUSB0"

# Ensure requirements.txt dependencies are installed
# Install system-level related drivers
$ pip install minimalmodbus --break-system-packages
$ pip install pyserial --break-system-packages
$ pip install pymodbus --break-system-packages
# View the USB-RS485 port number
$ ls /dev
# You should see a port similar to ttyUSB0. Grant permissions to the port:
$ sudo chmod 777 /dev/ttyUSB0
# GUI control example
$ python3 example/gui_control/gui_control.py

Related Documentation

Real Hand API for Python Document

Update Log

• release_3.0.1

• 1、Supports O6/L6/L10 RS485 communication in pymodbus mode.

• release_2.2.4

• 1、Added support for G20 industrial version dexterous hand.

• 2、Redrew the GUI.

• release_2.1.9

• 1、Added support for O6 dexterous hand.

• release_2.1.8

• 1、Fixed occasional frame collision issue.

• Position and Finger Joint Correspondence Table

  O6: ["Thumb Flexion", "Thumb Adduction/Abduction","Index Finger Flexion", "Middle Finger Flexion", "Ring Finger Flexion","Pinky Finger Flexion"]

  L6: ["Thumb Flexion", "Thumb Adduction/Abduction","Index Finger Flexion", "Middle Finger Flexion", "Ring Finger Flexion","Pinky Finger Flexion"]

  L7: ["Thumb Flexion", "Thumb Adduction/Abduction","Index Finger Flexion", "Middle Finger Flexion", "Ring Finger Flexion","Pinky Finger Flexion","Thumb Rotation"]

  L10: ["Thumb CMC Pitch", "Thumb Adduction/Abduction","Index Finger MCP Pitch", "Middle Finger MCP Pitch", "Ring Finger MCP Pitch","Pinky Finger MCP Pitch","Index Finger Adduction/Abduction","Ring Finger Adduction/Abduction","Pinky Finger Adduction/Abduction","Thumb Rotation"]

  L20: ["Thumb CMC Pitch", "Index Finger MCP Pitch", "Middle Finger MCP Pitch", "Ring Finger MCP Pitch","Pinky Finger MCP Pitch","Thumb Adduction/Abduction","Index Finger Adduction/Abduction","Middle Finger Adduction/Abduction","Ring Finger Adduction/Abduction","Pinky Finger Adduction/Abduction","Thumb CMC Yaw","Reserved","Reserved","Reserved","Reserved","Thumb Distal Tip","Index Finger Distal Tip","Middle Finger Distal Tip","Ring Finger Distal Tip","Pinky Finger Distal Tip"]

  G20: ["Thumb CMC Pitch", "Index Finger MCP Pitch", "Middle Finger MCP Pitch", "Ring Finger MCP Pitch","Pinky Finger MCP Pitch","Thumb Adduction/Abduction","Index Finger Adduction/Abduction","Middle Finger Adduction/Abduction","Ring Finger Adduction/Abduction","Pinky Finger Adduction/Abduction","Thumb CMC Yaw","Reserved","Reserved","Reserved","Reserved","Thumb Distal Tip","Index Finger Distal Tip","Middle Finger Distal Tip","Ring Finger Distal Tip","Pinky Finger Distal Tip"]

  L21: ["Thumb Base Pitch","Index Base Pitch","Middle Base Pitch","Ring Base Pitch","Pinky Base Pitch","Thumb Adduction/Abduction","Index Adduction/Abduction","Middle Adduction/Abduction","Ring Adduction/Abduction","Pinky Adduction/Abduction","Thumb Roll","Reserved","Reserved","Reserved","Reserved","Thumb Middle","Reserved","Reserved","Reserved","Reserved","Thumb Tip","Index Tip","Middle Tip","Ring Tip","Pinky Tip"]

  L25: ["Thumb Base Pitch", "Index Base Pitch", "Middle Base Pitch","Ring Base Pitch","Pinky Base Pitch","Thumb Adduction/Abduction","Index Adduction/Abduction","Middle Adduction/Abduction","Ring Adduction/Abduction","Pinky Adduction/Abduction","Thumb Roll","Reserved","Reserved","Reserved","Reserved","Thumb Middle","Index Middle","Middle Middle","Ring Middle","Pinky Middle","Thumb Tip","Index Tip","Middle Tip","Ring Tip","Pinky Tip"]

L10 Examples

   Before running, please modify the configuration information in setting.yaml to match your actual dexterous hand configuration.

• 0000-gui_control

When launched, a UI interface will pop up. You can control the corresponding RealHand dexterous hand joint movements using the sliders.

• Adding or modifying action examples. You can add or modify actions in the constants.py file.

# For example, adding action sequences for L6
"L6": HandConfig(
        joint_names_en=["thumb_cmc_pitch", "thumb_cmc_yaw", "index_mcp_pitch", "middle_mcp_pitch", "pinky_mcp_pitch", "ring_mcp_pitch"],
        joint_names=["Thumb Flexion", "Thumb Abduction", "Index Flexion", "Middle Flexion", "Ring Flexion", "Pinky Flexion"],
        init_pos=[250] * 6,
        preset_actions={
            "Open": [250, 250, 250, 250, 250, 250],
            "One": [0, 31, 255, 0, 0, 0],
            "Two": [0, 31, 255, 255, 0, 0],
            "Three": [0, 30, 255, 255, 255, 0], 
            "Four": [0, 30, 255, 255, 255, 255],
            "Five": [250, 250, 250, 250, 250, 250],
            "OK": [54, 41, 164, 250, 250, 250],
            "Thumbs Up": [255, 31, 0, 0, 0, 0],
            "Fist": [49, 61, 0, 0, 0, 0],
            # Add custom actions......
        }
    )

• 0001-real_hand_fast

• 0002-real_hand_finger_bend

• 0003-real_hand_fist

• 0004-real_hand_open_palm

• 0005-real_hand_opposition

• 0006-real_hand_sway

• 0007-real_hand_get_force #python3 get_force.py --hand_joint L10 --hand_type right

• 0008-real_hand_get_speed #python3 get_set_speed.py --hand_joint L10 --hand_type right --speed 100 123 211 121 222 Note: L7 has 7 speed parameters, others have 5.

• 0009-real_hand_get_state # python3 get_set_state.py --hand_joint L10 --hand_type right --position 100 123 211 121 222 255 255 255 255 255 The number of position parameters should refer to the "Position and Finger Joint Correspondence Table".

• 0010-real_hand_dynamic_grasping

API Documentation

Real Hand API for Python Document