ORCA Core

Abstracts hardware and control with simple high level control methods in joint space.

warning

This package is still under development and is not yet fully tested.

Get Started

To get started with orca_core, follow these steps:

1. (Recommended) Install orca_core using pip:

   info

   We are still uploading to PyPI. In the meantime please build from source!

   pip install orca_core

2. (Optional) Build from source:

   git clone git@github.com:orcahand/orca_core.git
   cd orca_core
   poetry install

3. Download the orca_config.yaml file (e.g. orca_v1):

   curl -o orca_config.yaml https://raw.githubusercontent.com/orcahand/orca_models/main/orca_v1/orca_config.yaml
   danger

   Make sure to have the correct motors assigned to the joints in the config.yaml file

4. Connect the hand and run the example usage:

   # Example usage
   from orca_core import OrcaHand
   
   hand = OrcaHand(orca_config="orca_config.yaml")
   status = hand.connect()
   print(status)
   hand.calibrate()
   
   # Set the desired joint positions to 0
   hand.set_joint_pos({joint: 0 for joint in hand.joint_ids})
   hand.disconnect()

Reference

Functions and Member Variables of OrcaHand

Function/Variable	Input Types	Output Types	Description
__init__	orca_config: str = "orca_config.yaml"	None	Initializes the OrcaHand class.
__del__	None	None	Destructor to disconnect from the hand.
connect	None	tuple[bool, str]	Connects to the hand with the DynamixelClient.
disconnect	None	tuple[bool, str]	Disconnects from the hand.
enable_torque	motor_ids: List[int] = None	None	Enables torque for the motors.
disable_torque	motor_ids: List[int] = None	None	Disables torque for the motors.
set_max_current	current: Union[float, List[float]]	None	Sets the maximum current for the motors.
set_control_mode	mode: str, motor_ids: List[int] = None	None	Sets the control mode for the motors.
get_motor_pos	None	np.ndarray	Gets the current motor positions in radians.
get_motor_current	None	np.ndarray	Gets the current motor currents.
get_motor_temp	None	np.ndarray	Gets the current motor temperatures.
get_joint_pos	None	dict	Gets the current joint positions.
set_joint_pos	joint_pos: dict	None	Sets the desired joint positions.
init_joints	calibrate: bool = False	None	Initializes the joints and optionally calibrates the hand.
calibrate	None	None	Calibrates the hand by moving the joints to their limits.
_set_motor_pos	desired_pos: Union[dict, np.ndarray, list], rel_to_current: bool = False	None	Sets the desired motor positions in radians.
_motor_to_joint_pos	motor_pos: np.ndarray	dict	Converts motor positions into joint positions.
_joint_to_motor_pos	joint_pos: dict	np.ndarray	Converts desired joint positions into motor commands.
_sanity_check	None	None	Checks if the configuration is correct and the IDs are consistent.
config_path	None	str	Path to the configuration file.
calib_path	None	str	Path to the calibration file.
baudrate	None	int	Baudrate for the Dynamixel communication.
port	None	str	Port for the Dynamixel communication.
max_current	None	int	Maximum current for the motors.
control_mode	None	str	Control mode for the motors.
calib_current	None	int	Calibration current for the motors.
calib_step_size	None	float	Step size for calibration.
calib_step_period	None	float	Step period for calibration.
calib_threshold	None	float	Threshold for calibration.
calib_num_stable	None	int	Number of stable steps for calibration.
calib_sequence	None	Dict[str, Dict[str, str]]	Calibration sequence.
calibrated	None	bool	Indicates if the hand is calibrated.
motor_limits	None	Dict[int, List[float]]	Motor limits for calibration.
joint_to_motor_ratios	None	Dict[int, float]	Ratios of joint to motor movements.
motor_ids	None	List[int]	List of motor IDs.
joint_ids	None	List[str]	List of joint IDs.
joint_to_motor_map	None	Dict[str, int]	Mapping of joint names to motor IDs.
motor_to_joint_map	None	Dict[int, str]	Mapping of motor IDs to joint names.
joint_roms	None	Dict[str, List[float]]	Range of motion (ROM) for each joint.
_dxl_client	None	DynamixelClient	Instance of the Dynamixel client.
_motor_lock	None	RLock	Lock for motor operations.