BrainCo Hand Service

The G1 can be equipped with BrainCo's 2nd generation Dexterous Hand, which features 6 degrees of freedom.

The dexterous hand is controlled via serial communication, and the manufacturer provides C and Python SDKs.

In this repository, we convert serial messages into DDS messages so they can be used with unitree_sdk2.

• Each hand (left or right) is controlled by a USB-to-serial device, and each generates a pair of topics: rt/brainco/(left or right)/(cmd or state).

• The position and speed of the fingers are normalized to the [0, 1] range.

• It is recommended to set the speed of all fingers to 1.0.

• The finger indices are mapped as follows: [Thumb, Thumb_aux, Index, Middle, Ring, Pinky].

Setup

sudo apt install libspdlog-dev libfmt-dev
# you may need to dowload the newest version of `stark-serialport-example` manually.
# git clone https://github.com/BrainCoTech/stark-serialport-example
cd thirdparty/stark-serialport-example
./download-lib.sh

cd path/to/brainco_hand_service
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make

Test

# Terminal 1. Run brainco hand service
sudo ./brainco_hand --id 126 --serial /dev/ttyUSB0 # 126: left hand, 127: right hand
# Terminal 2. Run example
./example_brainco_hand left # or right