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Core Python Controller of the ORCA Hand. Handles all hardware interaction, logic and abstracts control. Provides API for basic functionality and info of the hand.
Orca Core is the core control package of the ORCA Hand. It's used to abstract hardware, provide scripts for calibration and tensioningm and to control the hand with simple high-level control methods in joint space.
To get started with Orca Core, follow these steps:
Create a virtual environment (recommended):
python -m venv venv
source venv/bin/activate
You can also use Poetry, pyenv, conda, or any other environment manager if you prefer.
Install dependencies:
pip install -e .
Check the configuration file:
orca_core/orca_core/models/orcahand_v1_right/config.yaml
) and make sure it matches your hardware setup.Run the tension and calibration scripts:
python scripts/tension.py orca_core/orca_core/models/orcahand_v1_right
python scripts/calibrate.py orca_core/orca_core/models/orcahand_v1_right
Replace the path with your specific hand model folder if needed.
Move the hand to the neutral position:
python scripts/neutral.py orca_core/orca_core/models/orcahand_v1_right
Example usage: test.py
Here is a minimal example script you can use to test your setup:
from orca_core import OrcaHand
import time
hand = OrcaHand('orca_core/orca_core/models/orcahand_v1_right')
status = hand.connect()
print(status)
if not status[0]:
print("Failed to connect to the hand.")
exit(1)
hand.enable_torque()
joint_dict = {
"index_mcp": 90,
"middle_pip": 30,
}
hand.set_joint_pos(joint_dict, num_steps=25, step_size=0.001)
time.sleep(2)
hand.disable_torque()
hand.disconnect()
Note:
config.yaml
matches your hardware and wiring.scripts/
folder take the model path as their first argument.FAQs
Core Python Controller of the ORCA Hand. Handles all hardware interaction, logic and abstracts control. Provides API for basic functionality and info of the hand.
We found that orca_core demonstrated a healthy version release cadence and project activity because the last version was released less than a year ago. It has 1 open source maintainer collaborating on the project.
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