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Robotic Hand Python Start Guide
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1 Preparation
Note:
- Recommended use Python 3.9 – 3.12
For Windows10/11
cd python
# Install Python dependencies. Ensure the correct Python version & site-packages path.
which python3 # Check Python path
which pip3 # Check pip path
python3 -V # Check Python version
pip3 install -r requirements.txt # Install Python dependencies
# NOTE: Change serial_port_name to the actual serial port name, e.g., serial_port_name = "COM3"
# Check the serial port name in the Device Manager. For MacOS 10.15 +
# install sdk dependencies
./download-lib.sh
cd python
# install python dependencies
pip3 install -r requirements.txt For Ubuntu 20/22
# install sdk dependencies
./download-lib.sh
cd python
# install python dependencies
pip3 install -r requirements.txt
# Note:Users must be added to the "dialout" group to gain access over serial port device.
# If you haven't set, use the following command then restart your computer：
sudo usermod -aG dialout $USER 2.1 Hand Control
Key info:
- Control the hand by using: await client.set_finger_positions(slave_id, [60, 60, 100, 100, 100, 100])
- Remember to change the serial port
import asyncio
import logging
import sys
from logger import getLogger
from stark_utils import get_stark_port_name
import bc_device_sdk
libstark = bc_device_sdk.stark
# logger = getLogger(logging.DEBUG)
logger = getLogger(logging.INFO)
# Main
async def main():
port_name = get_stark_port_name()
if port_name is None:
return
slave_id = 1
client = await libstark.modbus_open(port_name, libstark.Baudrate.Baud115200, slave_id)
#======================Set Finger Position======================
await client.set_finger_positions(slave_id, [60, 60, 100, 100, 100, 100])
# 6 motors, range 0-100. 0 fully open, 100 fully close
# Caution: Improper finger positioning may cause collisions, potentially damaging the motor.
# This command will execute immediately, regardless of whether previous actions are completed.
# close client
client_close(client)
SKLog.info("Modbus client closed")
sys.exit(0)
if __name__ == "__main__":
asyncio.run(main()) 2.2 Get Device Information
import asyncio
import logging
import sys
from logger import getLogger
from stark_utils import get_stark_port_name
import bc_device_sdk
libstark = bc_device_sdk.stark
# logger = getLogger(logging.DEBUG)
logger = getLogger(logging.INFO)
# Main
async def main():
port_name = get_stark_port_name()
if port_name is None:
return
slave_id = 1
client = await libstark.modbus_open(port_name, libstark.Baudrate.Baud115200, slave_id)
logger.debug("get_serialport_cfg") # get serial port configuration, baud rate
baudrate = await client.get_serialport_baudrate(slave_id)
logger.info(f"Baudrate: {baudrate}")
logger.debug("get_device_info") # get device info
device_info = await client.get_device_info(slave_id)
logger.info(f"Device info: {device_info.firmware_version}") # firmware version
logger.info(f"Device info: {device_info.serial_number}") # serial number
logger.info(f"Device info: {device_info.sku_type}") # hand type
logger.info(f"Device info: {device_info.description}")
# This feature is deprecated in the touch sensor version
# logger.debug("get_force_level") # get force level
# force_level = await client.get_force_level(slave_id)
# logger.info(f"Force level: {force_level}")
logger.debug("get_voltage") # get voltage
voltage = await client.get_voltage(slave_id)
logger.info(f"Voltage: {voltage:.1f} mV")
logger.debug("get_motor_status") # Get finger status, position, current, motor status
status = await client.get_motor_status(slave_id)
logger.info(f"positions: {list(status.positions)}")
logger.info(f"states: {list(status.states)}")
logger.info(f"Finger status: {status.description}")
# close client
libstark.modbus_close(client)
logger.info("Modbus client closed")
sys.exit(0)
if __name__ == "__main__":
asyncio.run(main())
2.3 Touch Sensor
import asyncio
import logging
import sys
from logger import getLogger
from stark_utils import get_stark_port_name
import bc_device_sdk
libstark = bc_device_sdk.stark
# logger = getLogger(logging.DEBUG)
logger = getLogger(logging.INFO)
# Main
async def main():
port_name = get_stark_port_name()
if port_name is None:
return
slave_id = 1
client = await libstark.modbus_open(port_name, libstark.Baudrate.Baud115200, slave_id)
logger.debug("get_device_info") # get device info
device_info = await client.get_device_info(slave_id)
logger.info(f"Device Firmware: {device_info.firmware_version}") # get firmware version
logger.info(f"Device info: {device_info.description}")
# Enable the touch sensor
bits = 0x1f # 0x1f: for all sensors on 5 fingers
await client.touch_sensor_setup(slave_id, bits)
await asyncio.sleep(1) # // wait for touch sensor to be ready
bits = await client.get_touch_sensor_enabled(slave_id)
logger.info(f"Touch Sensor Enabled: {(bits & 0x1F):05b}")
touch_fw_versions = await client.get_touch_sensor_fw_versions(slave_id) # the version number can be obtained after setup
logger.info(f"Touch Fw Versions: {touch_fw_versions}")
# Get the tactile sensor status and three-dimensional force value
touch_status = await client.get_touch_sensor_status(slave_id)
logger.info(f"Touch Sensor Status: {touch_status[0].description}")
# Reset the tactile sensor and send the reset command for the sensor collection channel.
# During the execution of this command, avoid applying pressure to the finger sensor
# await client.touch_sensor_reset(slave_id, 0x1f) # The sensor of a specific finger can be reset.
# Sensor calibration: Use this command to calibrate when sensor values in idle state are non-zero.
# Calibration takes time (10s), and data during this period should be ignored.
# Avoid applying force to the sensor during calibration to prevent abnormal data.
# await client.touch_sensor_calibrate(slave_id, 0x1f) # The sensor of a specific finger can be calibrated.
# Close client
libstark.modbus_close(client)
logger.info("Modbus client closed")
sys.exit(0)
if __name__ == "__main__":
asyncio.run(main())