feathersdk.robot.actuators.realhand.realhand Module¶

RealHand O6 dexterous hand driver for FeatherSDK.

Protocol (reverse-engineered from RealHand/core/can/real_hand_o6_can.py):

Standard (11-bit) CAN frames.
Arbitration id is the hand id: 0x27 for the right hand, 0x28 for the left.
data[0] is the “frame property” (the command/register), data[1:] is the payload. Sending a frame property with an empty payload is a query; the hand replies with a frame whose data[0] echoes the frame property.

Frame properties used here:

Property	Meaning	Direction
`0x01`	joint positions (6 x 0-255)	set / query
`0x02`	torque limits (6 x 0-255)	set / query
`0x05`	speeds (6 x 0-255)	set / query
`0x20`	normal pressure	query
`0x21`	tangential pressure	query
`0x22`	tangential pressure direction	query
`0x23`	proximity / approach induction	query
`0x33`	motor temperatures	query
`0x35`	motor fault codes	query
`0x36`	motor currents	query
`0x64`	firmware/embedded version (alt `0xC2`)	query

Joint order (per RealHand docs) is:

[thumb_flexion, thumb_abduction, index, middle, ring, pinky]

All joint/speed/torque values are 0-255 where, for positions, 255 is fully open and 0 is fully closed.

class feathersdk.robot.actuators.realhand.realhand.RealHandVersion(value)¶

Bases: UniqueEnum

O6 = 6¶

class feathersdk.robot.actuators.realhand.realhand.RealHandParam(*, mode='r', dtype=0, id, default)¶

Bases: PyDFrozenBaseModel

Parameters:

mode (Literal['r', 'rw'])
dtype (int)
id (int)
default (int)

mode: Literal['r', 'rw']¶: The mode of the parameter.

dtype: int¶: The data type of the parameter.

id: int¶: Parameter ID.

default: int¶: The default value for the parameter.

model_config: ClassVar[ConfigDict] = {'frozen': True}¶: Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class feathersdk.robot.actuators.realhand.realhand.RealHandParamSet¶

Bases: object

Collection of all RealHand parameters. Each value is 8-bytes storing the 6 values (1 per finger) as single bytes in the lower 6-bytes of the value.

DTYPES were all uint64

position: RealHandParam = RealHandParam(mode='rw', dtype=0, id=1, default=0)¶: Joint positions.

torque_limit: RealHandParam = RealHandParam(mode='rw', dtype=0, id=2, default=100)¶: Torque limits.

speed: RealHandParam = RealHandParam(mode='rw', dtype=0, id=5, default=255)¶: Finger speeds.

normal_force: RealHandParam = RealHandParam(mode='r', dtype=0, id=32, default=0)¶: Normal force.

tangential_force: RealHandParam = RealHandParam(mode='r', dtype=0, id=33, default=0)¶: Tangential force.

tangential_dir: RealHandParam = RealHandParam(mode='r', dtype=0, id=34, default=0)¶: Tangential force direction.

approach: RealHandParam = RealHandParam(mode='r', dtype=0, id=35, default=0)¶: Approach.

temperature: RealHandParam = RealHandParam(mode='r', dtype=0, id=51, default=0)¶: Motor temperatures.

errors: RealHandParam = RealHandParam(mode='r', dtype=0, id=53, default=0)¶: Motor error codes.

current: RealHandParam = RealHandParam(mode='r', dtype=0, id=54, default=0)¶: Motor currents.

version: RealHandParam = RealHandParam(mode='r', dtype=0, id=100, default=0)¶: Firmware version.

get_param_from_id(id)¶

Get the parameter from the given ID.

Parameters:: id (int)
Return type:: RealHandParam

class feathersdk.robot.actuators.realhand.realhand.RealHandConfig(*, name, id, endpoint='', shares_endpoint_with=None, requires_calibration=False, calibration_timeout=10.0, feedback_delay_threshold=0.1, feedback_delay_warning_interval=10.0, urdf_joint_name='', urdf_link_name='', version, default_speed=150, default_torque=180, message_block_timeout=0.3, message_send_attempts=2)¶

Bases: MotorConfig

Configuration for a RealHand O6 hand.

Parameters:

name (Annotated[str, MinLen(min_length=1), MaxLen(max_length=255)])
id (int)
endpoint (str | int)
shares_endpoint_with (str | List[str] | None)
requires_calibration (bool)
calibration_timeout (Annotated[float, Gt(gt=0), Le(le=120.0)])
feedback_delay_threshold (float)
feedback_delay_warning_interval (float)
urdf_joint_name (str)
urdf_link_name (str)
version (RealHandVersion)
default_speed (Annotated[int, Ge(ge=0), Le(le=255)])
default_torque (Annotated[int, Ge(ge=0), Le(le=255)])
message_block_timeout (Annotated[float, Gt(gt=0.0), Le(le=10.0)])
message_send_attempts (Annotated[int, Gt(gt=0)])

requires_calibration: bool¶: RealHands do not require calibration.

version: RealHandVersion¶: The version of the hand.

default_speed: int¶: The default speed of the hand.

default_torque: int¶: The default torque of the hand.

model_config: ClassVar[ConfigDict] = {'frozen': True}¶: Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

message_block_timeout: float¶: The timeout in seconds to wait for a message to be sent to the motor when blocking.

message_send_attempts: int¶: The number of attempts to send a message to the motor when awaiting a response.

class feathersdk.robot.actuators.realhand.realhand.RealHand(config, system)¶

Bases: object

A single RealHand hand.

All values are integers in range 0-255. 255 is ‘max’ value, and is ‘fully open’ for positions.

Finger order: [thumb, thumb_abduction, index, middle, ring, pinky]

Parameters:

config (RealHandConfig)
system (ActuatorSystem[TActuatorSystemConfig] | None)

PARAM_SET: RealHandParamSet = <feathersdk.robot.actuators.realhand.realhand.RealHandParamSet object>¶: The parameter set for the hand.

enable()¶

Does nothing, hand is always enabled

Return type:: None

disable()¶

Does nothing, hand is always enabled

Return type:: None

read_param(param, block=False)¶

Read a parameter from the hand.

Parameters:

param (RealHandParam)
block (bool)

Return type:

int | None

write_param_all(param, values, block=False)¶

Write a parameter to the hand for all fingers.

Parameters:

param (RealHandParam)
values (Iterable[int])
block (bool)

Return type:

None

set_speed(speed, block=False)¶

Set the speed for all fingers.

Parameters:

speed (int | Iterable[int]) – The speed to set for all fingers. Can be a scalar (applied to all) or a list of 6 values.
block (bool) – If True, block until the response is received and we’ve checked the value was successfully written.

Return type:

None

set_torque(torque, block=False)¶

Set the torque for all fingers.

Parameters:

torque (int | Iterable[int]) – The torque to set for all fingers. Can be a scalar (applied to all) or a list of 6 values.
block (bool) – If True, block until the response is received and we’ve checked the value was successfully written.

Return type:

None

set_position(position, block=False)¶

Set the position for all fingers.

Parameters:

position (int | Iterable[int]) – The position to set for all fingers. Can be a scalar (applied to all) or a list of 6 values.
block (bool) – If True, block until the response is received and we’ve checked the value was successfully written.

Return type:

None

feathersdk.robot.actuators.realhand.realhand.handle_realhand_motor_message(router, result)¶

Handle an incoming RealHand motor message.

Parameters:

router (MessageRouter)
result (CanSocketResult)

Return type:

None

exception feathersdk.robot.actuators.realhand.realhand.RealHandError¶

Bases: Exception

Raised when a RealHand error occurs.