Dingry / AbilityHandWrapper

Ability hand control code

Ability Hand Control Wrapper

This repository provides a simplified interface for interacting with the Ability Hand API, along with examples to help you get started.

Installation

pip install -e .

Usage Examples

To run the example script, use the following command:

python test_ability.py

Ensure you update the usb_port variable in the script to match the port to which the Ability Hand is connected on your computer and grant the sudo permission to the port.

For position control, set the reply_mode variable in the script to 0x11 and run the script. The default control mode is 0x21, which is velocity control.

You can fine-tune the PID parameters in RealAbilityHand.pd_vel_control to achieve better performance.

Acknowledgements

This repository is based on the Ability Hand API. Thanks to Ruihan Yang, Runyu Ding, Jiyue Zhu, and Yuzhe Qin for their contributions to the development of this repository.