🤚PND dexterous hands

Adam可搭载自研的仿人五指灵巧手，该灵巧手具有6个自由度和12个运动关节，可以模拟人手实现复杂动作.

🕹️控制方式

灵巧手官方默认使用串口/485通讯方式进行控制，Adam将为使用透传模块转换为以太网协议，使其作为adam的一个节点子设备方便得进行tpc/udp等以太网操作，更好的融入adam机器人生态.

• 通讯流程：udp/tcp <-> 串口 <-> 485 <-> hand

下面控制例程使用udp的方式进行五指控制.

id	0	1	2	3	4	5
Joint	pinky	ring	middle	index	thumb-bend	thumb-rotation

上面id对应每个手指的控制，对应下面demo中 write6 函数数值输入顺序

🐍Python demo

import pnd_hand

import time
import socket
import threading
import signal
import sys

global port
port = 2562

global addr_l,addr_r
addr_l = '10.10.10.18'
addr_r = '10.10.10.38'
global sok_l,sok_r

def ctrl_one(id):
    global sok_l,sok_r
    global port
    global addr_l,addr_r

    sbytes = pnd_hand.hand_ctrl_pack([2000],[id])
    sok_l.sendto(bytes(sbytes),(addr_l,port))
    sok_r.sendto(bytes(sbytes),(addr_r,port))

    time.sleep(1)

    sbytes = pnd_hand.hand_ctrl_pack([0],[id])
    sok_l.sendto(bytes(sbytes),(addr_l,port))
    sok_r.sendto(bytes(sbytes),(addr_r,port))

    time.sleep(1)

def ctrl():
    global sok_l,sok_r
    global port
    global addr_l,addr_r


    # sbytes = pnd_hand.hand_ctrl_pack([200],[id])
    # sok_l.sendto(bytes(sbytes),(addr_l,port))
    # sok_r.sendto(bytes(sbytes),(addr_r,port))

    # time.sleep(1)

    # sbytes = pnd_hand.hand_ctrl_pack([0],[id])
    # sok_l.sendto(bytes(sbytes),(addr_l,port))
    # sok_r.sendto(bytes(sbytes),(addr_r,port))

    sbytes = pnd_hand.hand_ctrl_pack([0,0,0,0,0,0])

    sok_l.sendto(bytes(sbytes),(addr_l,port))
    sok_r.sendto(bytes(sbytes),(addr_r,port))
    time.sleep(0.8)

    sbytes = pnd_hand.hand_ctrl_pack([1900,1900,1900,1900,0,0])

    sok_l.sendto(bytes(sbytes),(addr_l,port))
    sok_r.sendto(bytes(sbytes),(addr_r,port))
    time.sleep(0.8)

    sbytes = pnd_hand.hand_ctrl_pack([0,0,0,0,0,0])

    sok_l.sendto(bytes(sbytes),(addr_l,port))
    sok_r.sendto(bytes(sbytes),(addr_r,port))
    time.sleep(0.8)

    sbytes = pnd_hand.hand_ctrl_pack([0,0,0,0,1900,1900])

    sok_l.sendto(bytes(sbytes),(addr_l,port))
    sok_r.sendto(bytes(sbytes),(addr_r,port))
    time.sleep(0.8)

    # sbytes = pnd_hand.hand_ctrl_pack([0,0,0,0,0,0])

    # sok_l.sendto(bytes(sbytes),(addr_l,port))
    # sok_r.sendto(bytes(sbytes),(addr_r,port))
    # time.sleep(0.5)

sok_l = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sok_l.settimeout(1)
sok_r = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sok_r.settimeout(1)
# change_id(2,4)
# ctrl()
# get_id()
while True:
    ctrl()
    # for i in range(6):
    #     ctrl_one(i+1)