orca_core

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.

Get Started

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:

  • Review the config file (e.g., 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:

• Always ensure your config.yaml matches your hardware and wiring.
• All scripts in the scripts/ folder take the model path as their first argument.
• For more advanced usage, see the other scripts and the API documentation.