Demo

Example control for the Pollen Robotics "AmazingHand" (a.k.a. AH!)

How to use:

• Install Rust: https://www.rust-lang.org/tools/install

• Install uv: https://docs.astral.sh/uv/getting-started/installation/

• Install dora-rs: https://dora-rs.ai/docs/guides/Installation/installing

  • start the daemon: dora up

• Clone this repository and in a console from the directory run:

• uv venv --python 3.12

• To run the webcam hand tracking demo in simulation only:

  • dora build dataflow_tracking_simu.yml --uv (needs to be done only once)
  • dora run dataflow_tracking_simu.yml --uv

• To run the webcam hand tracking demo with real hardware:

  • dora build dataflow_tracking_real.yml --uv (needs to be done only once)
  • dora run dataflow_tracking_real.yml --uv

• To run a simple example to control the finger angles in simulation:

  • dora build dataflow_angle_simu.yml --uv (needs to be done only once)
  • dora run dataflow_angle_simu.yml --uv

Hand Setup

Be sure to adapt the configuration file r_hand.toml for your particular hand. You can use the software tools located in AHControl.

Details

• AHControl contains a dora-rs node to control the motors, along with some useful tools to configure them.
• AHSimulation contains a dora-rs node to simulate the hand and get the inverse kinematics.
• HandTracking contains a dora-rs node to track hands from a webcam and use it as target to control AH!.