aero_hand/sdk/examples/run_sequence.py at main · UNR-RoboticsResearchLab/aero_hand · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
#!/usr/bin/env python3
# Copyright 2025 TetherIA, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from aero_open_sdk.aero_hand import AeroHand

if __name__ == "__main__":
    hand = AeroHand()

    ## Create a trajectory for the hand to follow
    trajectory = [
        ## Open Palm
        ([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 1.0),

        ## Pinch fingers one by one
        ([100.0, 35.0, 23.0, 0.0, 0.0, 0.0, 50.0], 0.5), # Touch Pinkie
        ([100.0, 35.0, 23.0, 0.0, 0.0, 0.0, 50.0], 0.25), # Hold
        ([100.0, 42.0, 23.0, 0.0, 0.0, 52.0, 0.0], 0.5), # Touch Ring
        ([100.0, 42.0, 23.0, 0.0, 0.0, 52.0, 0.0], 0.25), # Hold
        ([83.0, 42.0, 23.0, 0.0, 50.0, 0.0, 0.0], 0.5), # Touch Middle
        ([83.0, 42.0, 23.0, 0.0, 50.0, 0.0, 0.0], 0.25), # Hold
        ([75.0, 25.0, 30.0, 50.0, 0.0, 0.0, 0.0], 0.5), # Touch Index
        ([75.0, 25.0, 30.0, 50.0, 0.0, 0.0, 0.0], 0.25), # Hold

        ## Open Palm
        ([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 0.5),
        ([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 0.5), # Hold

        ## Peace Sign
        ([90.0, 0.0, 0.0, 0.0, 0.0, 90.0, 90.0], 0.5),
        ([90.0, 45.0, 60.0, 0.0, 0.0, 90.0, 90.0], 0.5),
        ([90.0, 45.0, 60.0, 0.0, 0.0, 90.0, 90.0], 1.0),

        ## Open Palm
        ([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 0.5),
        ([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 0.5), # Hold

        ## Rockstar Sign
        ([0.0, 0.0, 0.0, 0.0, 90.0, 90.0, 0.0], 0.5), # Close Middle and Ring Fingers
        ([0.0, 0.0, 0.0, 0.0, 90.0, 90.0, 0.0], 1.0), # Hold

        ## Open Palm
        ([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 0.5),
    ]

    hand.run_trajectory(trajectory)