v1.3.6

支持L20和L25_V2版本

Author: hejianxin79

LinkerHand/__pycache__/linker_hand_api.cpython-38.pyc

@@ -1,112 +0,0 @@
-LEFT_HAND:
-- ACTION_NAME: 张开
-  POSITION:
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 10
-  - 100
-  - 180
-  - 240
-  - 245
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-- ACTION_NAME: 握拳
-  POSITION:
-  - 69.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 151.0
-  - 10.0
-  - 100.0
-  - 180.0
-  - 240.0
-  - 14.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 109.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-RIGHT_HAND:
-- ACTION_NAME: 张开
-  POSITION:
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 10.0
-  - 100.0
-  - 180.0
-  - 240.0
-  - 245.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-- ACTION_NAME: 握拳
-  POSITION:
-  - 69.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 151.0
-  - 10.0
-  - 100.0
-  - 180.0
-  - 240.0
-  - 14.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 109.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-- ACTION_NAME: '666'
-  POSITION:
-  - 255.0
-  - 255.0
-  - 33.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 10.0
-  - 100.0
-  - 180.0
-  - 240.0
-  - 245.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0
-  - 255.0

LinkerHand/config/L20_positions.yaml

@@ -1,9 +1,9 @@
-VERSION: 2.0.1 # 重构核心源码
+VERSION: 1.3.6 # 重构核心源码,支持动捕手套速度
 LINKER_HAND:  # 手部配置信息
   LEFT_HAND:
-    EXISTS: False # 是否存在左手
+    EXISTS: True # 是否存在左手
     TOUCH: True # 是否有压力传感器
-    JOINT: L20 # 左手关节数 L7/L10/L20/L25/L25_v2
+    JOINT: L10 # 左手关节数 L7/L10/L20/L25/L25_v2
     NAME: # 无论l10还是l20 joint name都是20个
       - joint41
       - joint42
@@ -27,8 +27,8 @@ LINKER_HAND:  # 手部配置信息
       - joint60
 
   RIGHT_HAND:
-    EXISTS: True # 是否存在右手
-    TOUCH: True # 是否有压力传感器
+    EXISTS: False # 是否存在右手
+    TOUCH: False # 是否有压力传感器
     JOINT: L25 # 右手关节数量
     NAME:  # 无论l10还是l20 joint name都是20个
       - joint71

LinkerHand/config/setting.yaml

@@ -141,7 +141,6 @@ def __init__(self, can_channel='can0', baudrate=1000000, can_id=0x28):
         else:
             raise EnvironmentError("Unsupported platform for CAN interface")
 
-
         # 启动接收线程
         self.receive_thread = threading.Thread(target=self.receive_response)
         self.receive_thread.daemon = True
@@ -346,12 +345,18 @@ def set_torque(self,torque=[250]*5):
 
     def set_speed(self, speed):
         self.speed = speed
-        ColorMsg(msg=f"L25设置速度为:{self.speed}", color="yellow")
-        thumb_speed = [self.speed[0]]*5
-        index_speed = [self.speed[1]]*5
-        middle_speed = [self.speed[2]]*5
-        ring_speed = [self.speed[3]]*5
-        little_speed = [self.speed[4]]*5
+        if len(speed) < 25:
+            thumb_speed = [self.speed[0]]*5
+            index_speed = [self.speed[1]]*5
+            middle_speed = [self.speed[2]]*5
+            ring_speed = [self.speed[3]]*5
+            little_speed = [self.speed[4]]*5
+        else:
+            thumb_speed = [self.speed[0],self.speed[1],self.speed[2],self.speed[3],self.speed[4]]
+            index_speed = [self.speed[5],self.speed[6],self.speed[7],self.speed[8],self.speed[9]]
+            middle_speed = [self.speed[10],self.speed[11],self.speed[12],self.speed[13],self.speed[14]]
+            ring_speed = [self.speed[15],self.speed[16],self.speed[17],self.speed[18],self.speed[19]]
+            little_speed = [self.speed[20],self.speed[21],self.speed[22],self.speed[23],self.speed[24]]
         self.send_command(FrameProperty.THUMB_SPEED, thumb_speed)
         self.send_command(FrameProperty.INDEX_SPEED, index_speed)
         self.send_command(FrameProperty.MIDDLE_SPEED, middle_speed)

LinkerHand/core/__pycache__/linker_hand_l25_can.cpython-38.pyc

@@ -2,8 +2,8 @@
 Author: HJX
 Date: 2025-04-01 14:09:21
 LastEditors: Please set LastEditors
-LastEditTime: 2025-04-09 14:05:33
-FilePath: /LinkerHand_Python_SDK/LinkerHand/linker_hand_api.py
+LastEditTime: 2025-04-11 09:19:15
+FilePath: /Linker_Hand_SDK_ROS/src/linker_hand_sdk_ros/scripts/LinkerHand/linker_hand_api.py
 Description: 
 symbol_custom_string_obkorol_copyright: 
 '''
@@ -54,8 +54,8 @@ def finger_move(self,pose=[]):
         五指移动
         @params: pose list L7 len(7) | L10 len(10) | L20 len(20) | L25 len(25) 0~255
         '''
-        if pose == self.last_position:
-            return
+        # if pose == self.last_position:
+        #     return
         #ColorMsg(msg=f"当前LinkerHand为{self.hand_type} {self.hand_joint},动作序列为{pose}", color="green")
         if self.hand_joint == "L7" and len(pose) == 7:
             self.hand.set_joint_positions(pose)
@@ -98,14 +98,16 @@ def set_speed(self,speed=[100]*5):
         '''# 设置速度'''
         ColorMsg(msg=f"设置速度为{speed}", color="green")
         self.hand.set_speed(speed=speed)
-    
+    def set_joint_speed(self,speed=[100]*5):
+        '''设置速度by topic'''
+        self.hand.set_speed(speed=speed)
     def set_torque(self, torque=[]):
         '''设置最大扭矩'''
         ColorMsg(msg=f"设置最大扭矩为{torque}", color="green")
         return self.hand.set_torque(torque=torque)
 
     def set_current(self, current=[]):
-        '''设置电流 暂不支持'''
+        '''设置电流 L7/L10/L25暂不支持'''
         if self.hand_joint == "L20":
             return self.hand.set_current(current=current)
         else:
@@ -123,7 +125,17 @@ def get_state(self):
     def get_speed(self):
         '''获取速度'''
         return self.hand.get_speed()
-    
+    def get_joint_speed(self):
+        speed = self.hand.get_speed()
+        if self.hand_joint == "L7":
+            return speed
+        elif self.hand_joint == "L10":
+            return [speed[0],255,speed[1],speed[2],speed[3],speed[4],255,255,255,255]
+        elif self.hand_joint == "L20":
+            return [255,speed[1],speed[2],speed[3],speed[4],255,255,255,255,255,speed[0],255,255,255,255,255,255,255,255,255]
+        elif self.hand_joint == "L25":
+            return speed
+
     def get_torque(self):
         '''获取当前最大扭矩'''
         return self.hand.get_torque()

LinkerHand/core/linker_hand_l25_can.py

@@ -4,7 +4,7 @@
 Author: HJX
 Date: 2025-04-01 14:09:21
 LastEditors: Please set LastEditors
-LastEditTime: 2025-04-09 14:12:57
+LastEditTime: 2025-04-11 10:19:01
 FilePath: /LinkerHand_Python_SDK/LinkerHand/utils/load_write_yaml.py
 Description: 
 symbol_custom_string_obkorol_copyright: 
@@ -13,10 +13,8 @@
 class LoadWriteYaml():
     def __init__(self):
         # 由于是API形式，这里要给配置文件目录绝对路径
-        # ROS模式路径
-        #yaml_path = os.path.dirname(os.path.abspath(__file__)) + "/../../LinkerHand"
-        # Python模式路径 获取当前文件的上层文件夹路径
-        yaml_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+        #yaml_path = "/home/linkerhand/ROS2/linker_hand_ros2_sdk/src/linker_hand_ros2_sdk/linker_hand_ros2_sdk/LinkerHand"
+        yaml_path = os.path.dirname(os.path.abspath(__file__)) + "/../../LinkerHand"
         self.setting_path = yaml_path+"/config/setting.yaml"
         self.l7_positions = yaml_path+"/config/L7_positions.yaml"
         self.l10_positions = yaml_path+"/config/L10_positions.yaml"
@@ -47,14 +45,13 @@ def load_setting_yaml(self):
     def load_action_yaml(self,hand_joint="",hand_type=""):
         if hand_joint == "L20":
             action_path = self.l20_positions
-            print("__" * 20)
-            print(action_path)
         elif hand_joint == "L10":
             action_path = self.l10_positions
         elif hand_joint == "L25":
             action_path = self.l25_positions
         elif hand_joint == "L7":
             action_path = self.l7_positions
+            print(action_path)
         try:
             with open(action_path, 'r', encoding='utf-8') as file:
                 yaml_data = yaml.safe_load(file)

LinkerHand/linker_hand_api.py

@@ -4,7 +4,7 @@
 Author: HJX
 Date: 2025-04-01 14:09:21
 LastEditors: Please set LastEditors
-LastEditTime: 2025-04-08 09:25:01
+LastEditTime: 2025-04-11 09:15:31
 FilePath: /Linker_Hand_SDK_ROS/src/linker_hand_sdk_ros/scripts/LinkerHand/utils/open_can.py
 Description: 
 symbol_custom_string_obkorol_copyright: