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robonix.primitive.beingbeyond.d1.hand

D1 dexterous-hand primitive — axis-level position control + speed/torque limits over CAN.

README

primitive-beingbeyond-d1-hand-rbnx

中文版

robonix.primitive.beingbeyond.d1.hand — Robonix primitive for the BeingBeyond D1 five-finger dexterous hand (Linker, six axes). Talks to the beingbeyond_d1_sdk DexHand CAN link directly, with no ROS backend.

Capabilities

Contract Transport What it does
robonix/primitive/hand/driver gRPC lifecycle (CMD_INIT / ACTIVATE / DEACTIVATE / SHUTDOWN)
robonix/primitive/hand/info gRPC each axis's finger and type, so consumers can map fingers
robonix/primitive/hand/move_joint gRPC axis-level position control
robonix/primitive/hand/set_joint_speed_limits gRPC per-axis speed ceilings
robonix/primitive/hand/set_joint_torque_limits gRPC per-axis torque ceilings
robonix/primitive/hand/get_state gRPC read the current axis angles

The finger-level contracts (move_finger / set_finger_*) and the state_joint / state_finger streams (topic_out, which would need a ROS backend this deployment does not run) are intentionally not provided. Consumers read the axis↔finger mapping from info and then drive move_joint.

Configuration

Fields, units and defaults are in config.spec. The essentials:

  • hand_type (right | left, default right) — selects the axis signs / mapping inside the DexHand SDK.
  • can_iface (default can0) — the CAN interface the hand is wired to.
  • baudrate (default 1000000) — CAN bitrate; must match the hand's firmware.

Every field also falls back to a matching D1_HAND_* env var.

Dependencies and permissions

  • Python 3.10 (the wheel is cp310 + manylinux_2_17_x86_64, so nothing else will install it).
  • beingbeyond_d1_sdk (≥ 0.2.0) and robonix_api. The SDK wheel ships in the robot-beingbeyond-d1 deployment repo under tools/func_verify/lib/ — just pip install that whl.
  • CAN permissions: DexHand runs ip link set … at init to bring the interface up. When not running as root, bring the interface up beforehand or export PREFLIGHT_SUDO_PASS.
  • scripts/start.sh defaults to $HOME/miniconda3/envs/bb_d1_robonix/bin/python3; override with BLOCK_GRASP_PYTHON.

Build and run

bash scripts/build.sh      # rbnx codegen, generating the gRPC stubs
bash scripts/start.sh      # or let rbnx boot start it from a deployment manifest
rbnx caps -v | grep hand   # check all 6 capabilities registered and the provider is ACTIVE

Shutdown is handled by the Driver's CMD_SHUTDOWN (on_shutdown stops hand output). There is no cleanup beyond that, so no scripts/stop.sh is provided.

Safety

  • Do the read-only checks first (info / get_state) before commanding move_joint.
  • For the first open/close, lower the ceiling with set_joint_torque_limits to avoid pinching a finger or damaging a knuckle.
  • Providers stop hardware output on input timeout, process exit, or CMD_SHUTDOWN.

Layout

package_manifest.yaml   config.spec   README.md   README_CN.md
scripts/{build.sh, start.sh}
d1_hand/{__init__.py, main.py}

License

MulanPSL-2.0