LinkerHand-Python-SDK

概述 Linker Hand 灵心巧手(北京)科技有限公司

专注于人工智能和机器人解决方案，帮助开发者、企业、科研机构快速实现真实场景落地

中文 | English

注意

请确保灵巧手未开启其他控制，如linker_hand_sdk_ros、动捕手套控制和其他控制灵巧手的topic。以免冲突。
请将固定灵巧手，以免灵巧手在运动时跌落。
请确保灵巧手电源与USB转CAN连接正确。

Name	Version	Link
Python SDK
ROS SDK
ROS2 SDK

Installation

您可以在安装requirements.txt后的情况下运行示例。仅支持 Python3。

download


$ git clone https://github.com/linker-bot/linkerhand-python-sdk.git

install


$ pip3 install -r requirements.txt

RS485 协议切换当前支持O6/L6/L10，其他型号灵巧手请参考MODBUS RS485协议文档

编辑config/setting.yaml配置文件，按照配置文件内注释说明进行参数修改,将MODBUS:"/dev/ttyUSB0"，配置文件中"modbus"参数为"/dev/ttyUSB0"。USB-RS485转换器在Ubuntu上一般显示为/dev/ttyUSB* or /dev/ttyACM* modbus: "None" or "/dev/ttyUSB0"


# 确保requirements.txt安装依赖
# 安装系统级相关驱动
$ pip install minimalmodbus --break-system-packages
$ pip install pyserial --break-system-packages
$ pip install pymodbus --break-system-packages
# 查看USB-RS485端口号
$ ls /dev
# 可以看到类似ttyUSB0端口后给端口执行权限
$ sudo chmod 777 /dev/ttyUSB0
# GUI控制示例
$ python3 example/gui_control/gui_control.py

更新说明

release_3.0.1
1、支持O6/L6/L10 RS485通讯 pymodbus模式
release_2.2.4
1、新增支持G20工业版灵巧手
2、重绘GUI
release_2.1.9
1、新增支持O6灵巧手
release_2.1.8
1、修复偶发撞帧问题
2.1.4
- 1、新增支持L21
- 2、新增支持矩阵式压力传感器
- 3、支持L10 Mujoco仿真
1.3.6
- 支持LinkerHand L7/L20/L25版本灵巧手
1.1.2
- 支持LinkerHand L10版本灵巧手
- 增加GUI控制L10灵巧手
- 增加GUI显示L10灵巧手压感图形模式数据
- 增加部分示例源码
position与手指关节对照表

O6: ["大拇指弯曲", "大拇指横摆","食指弯曲", "中指弯曲", "无名指弯曲","小拇指弯曲"]

L6: ["大拇指弯曲", "大拇指横摆","食指弯曲", "中指弯曲", "无名指弯曲","小拇指弯曲"]

L7: ["大拇指弯曲", "大拇指横摆","食指弯曲", "中指弯曲", "无名指弯曲","小拇指弯曲","拇指旋转"]

L10: ["拇指根部", "拇指侧摆","食指根部", "中指根部", "无名指根部","小指根部","食指侧摆","无名指侧摆","小指侧摆","拇指旋转"]

L20: ["拇指根部", "食指根部", "中指根部", "无名指根部","小指根部","拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小指侧摆","拇指横摆","预留","预留","预留","预留","拇指尖部","食指末端","中指末端","无名指末端","小指末端"]

G20(工业版): ["拇指根部", "食指根部", "中指根部", "无名指根部","小指根部","拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小指侧摆","拇指横摆","预留","预留","预留","预留","拇指尖部","食指末端","中指末端","无名指末端","小指末端"]

L21: ["大拇指根部","食指根部","中指根部","无名指根部","小拇指根部","大拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小拇指侧摆","大拇指横滚","预留","预留","预留","预留","大拇指中部","预留","预留","预留","预留","大拇指指尖","食指指尖","中指指尖","无名指指尖","小拇指指尖"]

L25: ["大拇指根部", "食指根部", "中指根部","无名指根部","小拇指根部","大拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小拇指侧摆","大拇指横滚","预留","预留","预留","预留","大拇指中部","食指中部","中指中部","无名指中部","小拇指中部","大拇指指尖","食指指尖","中指指尖","无名指指尖","小拇指指尖"]

L10_Example

在运行之前, 请将 setting.yaml 的配置信息修改为您实际控制的灵巧手配置信息.

0000-gui_control

开启后会弹出UI界面。通过滑动条可控制相应LinkerHand灵巧手关节运动

增加或修改动作示例。在constants.py文件中可增加或修改动作。


# 例如增加L6的动作序列
"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=["大拇指弯曲", "大拇指横摆", "食指弯曲", "中指弯曲", "无名指弯曲", "小拇指弯曲"],
        init_pos=[250] * 6,
        preset_actions={
            "张开": [250, 250, 250, 250, 250, 250],
            "壹": [0, 31, 255, 0, 0, 0],
            "贰": [0, 31, 255, 255, 0, 0],
            "叁": [0, 30, 255, 255, 255, 0], 
            "肆": [0, 30, 255, 255, 255, 255],
            "伍": [250, 250, 250, 250, 250, 250],
            "OK": [54, 41, 164, 250, 250, 250],
            "点赞": [255, 31, 0, 0, 0, 0],
            "握拳": [49, 61, 0, 0, 0, 0],
            # 增加自定义动作......
        }
    )