
OrcaHand class is used to abstract hardware, control the hand of the robot with simple high-level control methods in joint space.
Orca Core
OrcaHand class is used to abtract hardware, control the hand of the robot with simple high level control methods in joint space.
Get Started
To get started with Orca Core, follow these steps:
-
Clone the repository:
git clone git@github.com:orcahand/orca_core.git
cd orca_core
-
Install dependencies using Poetry:
poetry install
-
Run the example usage:
from orca_core import OrcaHand
hand = OrcaHand()
status = hand.connect()
print(status)
hand.calibrate()
hand.set_joint_pos({joint: 0 for joint in hand.joint_ids})
hand.disconnect()
Config file
The configuration file core/orca_config.yaml
is specific to the hand (currently the only hand we have) and defines everything from auto calibration, joint limits, and control settings. This file is crucial for the proper functioning of the OrcaHand class.