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Robotic Hand Python Start Guide
NOTE: For more guidance about other environments, please ask our agent to provide it.
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1 Preparation
Note:
- Recommended use Python 3.8 – 3.11
For Windows10/11
cd python
# Install Python dependencies
pip3 install -r requirements.txt 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 action_sequences.
- Remember to change the serial port
#!/usr/bin/env python
import os
import asyncio
from modbus_client_utils import *
filename = os.path.basename(__file__).split(".")[0]
StarkSDK.init(isModbus=True, log_level=logging.INFO, log_file_name=f"{filename}.log")
# Add the serial port info
serial_port_name = "Change_it_to_right_port"
# Control the hand by using Action sequence
sample_action_sequences = [
{
"index": 0,
"duration_ms": 2000,
"positions": [0, 0, 100, 100, 100, 100],
"speeds": [10, 20, 30, 40, 50, 60],
"forces": [5, 10, 15, 20, 25, 30],
},
{
"index": 1,
"duration_ms": 2000,
"positions": [100, 100, 0, 0, 0, 0],
"speeds": [15, 25, 35, 45, 55, 65],
"forces": [6, 11, 16, 21, 26, 31],
},
{
"index": 2,
"duration_ms": 2000,
"positions": [0, 0, 100, 100, 100, 100],
"speeds": [10, 20, 30, 40, 50, 60],
"forces": [5, 10, 15, 20, 25, 30],
},
]
def action_sequence_info_to_list(action):
return (
[action["index"]]
+ [action["duration_ms"]]
+ action["positions"]
+ action["speeds"]
+ action["forces"]
)
async def main():
#==============Initialization Preparation==============
setup_shutdown_event()
StarkSDK.set_error_callback(lambda error: SKLog.error(f"Error: {error.message}"))
ports = serial_ports()
SKLog.info(f"serial_ports: {ports}")
if len(ports) == 0:
SKLog.error("No serial ports found")
return
client = client_connect(port=serial_port_name, baudrate=BaudRate.baudrate_115200)
if client is None:
SKLog.error("Failed to open modbus serial port")
return
broadcast_enable = False
# default slave_id is 1 in Modbus Firmware
slave_id = 0 if broadcast_enable else 1
# new modbus device instance
device = StarkDevice.create_device(slave_id, f"{serial_port_name}_{slave_id}")
# set modbus device write/read registers callbacks
device.set_write_registers_callback(
lambda register_address, values: client_write_registers(
client, register_address, values=values, slave=slave_id
)
)
device.set_read_holding_registers_callback(
lambda register_address, count: client_read_holding_registers(
client, register_address, count, slave=slave_id
)
)
device.set_read_input_registers_callback(
lambda register_address, count: client_read_input_registers(
client, register_address, count, slave=slave_id
)
)
global sample_action_sequences
SKLog.info(f"Action Sequence: {len(sample_action_sequences)}")
for action in sample_action_sequences:
print(f"{action},")
#==============Initialization Preparation Finished==============
# organize data format
# fmt: off
mapped_sequences = map(lambda action: action_sequence_info_to_list(action), sample_action_sequences)
action_sequences = list(mapped_sequences)
# write action sequence to hand
action_id = ActionSequenceId.custom_gesture_1
device.transfer_action_sequence(action_id, action_sequences=action_sequences)
# save action sequence on hand
device.save_action_sequence(action_id)
# read action sequence
device.get_action_sequence(action_id,cb=lambda action_sequences: SKLog.info(f"get Action Sequence: {action_sequences}"))
# run action sequence
device.run_action_sequence(action_id)
# waiting for the event to close
# await shutdown_event.wait()
# close client
client_close(client)
SKLog.info("Modbus client closed")
sys.exit(0)
if __name__ == "__main__":
asyncio.run(main()) 2.2 Get Device Information
#!/usr/bin/env python
import os
import asyncio
from modbus_client_utils import *
filename = os.path.basename(__file__).split(".")[0]
StarkSDK.init(isModbus=True, log_level=logging.INFO, log_file_name=f"{filename}.log")
# add the serial port info
serial_port_name = "Change_it_to_right_port"
async def main():
#==============Initialization Preparation==============
setup_shutdown_event()
StarkSDK.set_error_callback(lambda error: SKLog.error(f"Error: {error.message}"))
ports = serial_ports()
SKLog.info(f"serial_ports: {ports}")
if len(ports) == 0:
SKLog.error("No serial ports found")
return
client = client_connect(port=serial_port_name, baudrate=BaudRate.baudrate_115200)
if client is None:
SKLog.error("Failed to open modbus serial port")
return
broadcast_enable = False
# default slave_id is 1 in Modbus Firmware
slave_id = 0 if broadcast_enable else 1
# new modbus device instance
device = StarkDevice.create_device(slave_id, f"{serial_port_name}_{slave_id}")
# set modbus device write/read registers callbacks
device.set_write_registers_callback(
lambda register_address, values: client_write_registers(
client, register_address, values=values, slave=slave_id
)
)
device.set_read_holding_registers_callback(
lambda register_address, count: client_read_holding_registers(
client, register_address, count, slave=slave_id
)
)
device.set_read_input_registers_callback(
lambda register_address, count: client_read_input_registers(
client, register_address, count, slave=slave_id
)
)
#==============Initialization Preparation Finished==============
#==============The following is the sample code for obtaining ==============
# Get the hand type
SKLog.info("get_hand_type")
device.get_hand_type(lambda hand_type: SKLog.info(f"Hand type: {hand_type.name}"))
# Get serial port configuration, baud rate, etc.
SKLog.info("get_serialport_cfg")
device.get_serialport_cfg(lambda cfg: SKLog.info(f"Serialport cfg: {cfg}"))
# Get firmware version number and other informationSKLog.info("get_motorboard_info")
device.get_motorboard_info(lambda info: SKLog.critical(f"Motorboard info: {info}"))
# Get force level, large-medium-small
SKLog.info("get_force_level")
device.get_force_level(
lambda force_level: SKLog.info(f"Force level: {force_level.name}")
)
# Get power
SKLog.info("get_voltage")
device.get_voltage(lambda voltage: SKLog.info(f"Voltage: {voltage:.1f} mV"))
# Set finger position
device.set_finger_positions([60, 60, 100, 100, 100, 100])
# Get finger status
SKLog.info("get_finger_status")
device.get_finger_status(lambda status: SKLog.info(f"Finger status: {status}"))
#==============The following is to get the tactile hand status ==============
# SKLog.info("get_touch_sensor_status") # Get the tactile sensor status
# device.get_touch_sensor_status(
# lambda status: SKLog.info(f"Touch sensor status: {status}")
# )
# Close client
client_close(client)
SKLog.info("Modbus client closed")
sys.exit(0)
if __name__ == "__main__":
asyncio.run(main())