External · Revo 2 dexterous hand

4.4 BrainCo Revo 2 Dexterous Hand (Basic Version)

4.4.1 Dexterous Hand Control Command

4.4.1.1 Request: request_set_brainco2_hand_cmd

{
  "accid": "DACH_TRON2A_001",
  "title": "request_set_brainco2_hand_cmd",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
      // Left hand: 
      // Indexes 0-5 correspond to: thumb tip, thumb base, index finger, middle finger, ring finger, and little finger
      // left_mode: control mode
      //            0: exit control
      //            1: position-time mode; must specify left_pos, left_time value
      //            2: position-velocity mode; must specify left_pos, left_vel value
      //           3: force-control mode; must specify left_current value
      // left_pos: target position of each finger, unit: rad
      //           respective ranges: 0-1.0297, 0-1.5707, 0-1.4137, 0-1.4137, 0-1.4137, 0-1.4137
      // left_vel: target velocity of each finger, unit: rad/s
      //           respective ranges: 0-2.5367, 0-2.6180, 0-2.2689, 0-2.2689, 0-2.2689, 0-2.2689
      // left_current: target current of each finger, unit: mA, range: ±1000 mA
      // left_time: control time of each finger, unit: ms, range: 1-2000 ms
      
      "left_mode": 1,
      "left_pos": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
      "left_vel": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
      "left_current": [500, 500, 500, 500, 500, 500],
      "left_time": [1000, 1000, 1000, 1000, 1000, 1000],
      
      // Right hand: 
      // Indexes 0-5 correspond to: thumb tip, thumb base, index finger, middle finger, ring finger, and little finger
      // right_mode: control mode
      //            0: exit control
      //            1: position-time mode; must specify right_pos, right_time value
      //            2: position-velocity mode; must specify right_pos, right_vel value
      //            3: force-control mode; must specify right_current value
      // right_pos: target position of each finger, unit: rad
      //           respective ranges: 0-1.0297, 0-1.5707, 0-1.4137, 0-1.4137, 0-1.4137, 0-1.4137
      // right_vel: target velocity of each finger, unit: rad/s
      //           respective ranges: 0-2.5367, 0-2.6180, 0-2.2689, 0-2.2689, 0-2.2689, 0-2.2689
      // right_current: target current of each finger, unit: mA, range: ±1000 mA
      // right_time: control time of each finger, unit: ms, range: 1-2000 ms
      
      "right_mode": 1,
      "right_pos": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
      "right_vel": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
      "right_current": [500, 500, 500, 500, 500, 500],
      "right_time": [1000, 1000, 1000, 1000, 1000, 1000]
  }
}

4.4.1.2 Response: response_set_brainco2_hand_cmd

{
  "accid": "DACH_TRON2A_001",
  "title": "response_set_brainco2_hand_cmd",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success"  // success: success, fail_motor: motor error, fail_invalid_cmd: invalid command
  }
}

4.4.1.3 Control Example

{
  "accid": "DACH_TRON2A_069",
  "title": "request_set_brainco2_hand_cmd",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "left_mode": 1,
    "left_pos": [0.5, 0.5, 0.5, 1, 0.5, 0.5],
    "left_vel": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
    "left_current": [500, 500, 500, 500, 500, 500],
    "left_time": [1000, 1000, 1000, 1000, 1000, 1000],
    "right_mode": 1,
    "right_pos": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
    "right_vel": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
    "right_current": [500, 500, 500, 500, 500, 500],
    "right_time": [1000, 1000, 1000, 1000, 1000, 1000]
  }
}

4.4.2 Get Dexterous Hand State

4.4.2.1 Request: request_get_brainco2_hand_state

{
  "accid": "DACH_TRON2A_001",
  "title": "request_get_brainco2_hand_state",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
  }
}

4.4.2.2 Response: response_get_brainco2_hand_state

{
  "accid": "DACH_TRON2A_001",
  "title": "response_get_brainco2_hand_state",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
      "timestamp": 1672373633989,
      "left_mode": 1,
      "left_pos": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
      "left_vel": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
      "left_current": [500, 500, 500, 500, 500, 500],
      "left_time": [1000, 1000, 1000, 1000, 1000, 1000],
      "right_mode": 1,
      "right_pos": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
      "right_vel": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
      "right_current": [500, 500, 500, 500, 500, 500],
      "right_time": [1000, 1000, 1000, 1000, 1000, 1000]
  }
}