Brainco Hand Service

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0. 📖 Introduction

The G1 can be equipped with BrainCoTech's Revo2 Dexterous Hand, which features 6 degrees of freedom.

The dexterous hand is controlled via serial communication, and the manufacturer provides C and Python SDKs.

In this repository, we convert serial messages into DDS messages so they can be used with unitree_sdk2 or unitree_sdk2_python.

• Each hand (left or right) is controlled by a USB-to-serial device, and each generates a pair of topics: rt/brainco/(left or right)/(cmd or state).

• The position and speed of the fingers are normalized to the [0, 1] range.

• It is recommended to set the speed of all fingers to 1.0.

• The finger indices are mapped as follows: [Thumb, Thumb_aux, Index, Middle, Ring, Pinky].

Here is a similar project unitree-g1-brainco-hand you can refer to, which is adapted by BrainCoTech.

1. 📦 Installation

# at user development computing unit PC2 (NVIDIA Jetson Orin NX board)
sudo apt install libspdlog-dev libfmt-dev
cd ~
git clone https://github.com/unitreerobotics/brainco_hand_service
cd brainco_hand_service
mkdir build && cd build
cmake ..
make -j6

2. 🚀 Launch

cd ~/brainco_hand_service/bin
# Run `sudo ././brainco_hand_server -h` for details. The output will be:
# Unitree Brainco Hand Service:
#  -h [ --help ]                  produce help message
#  -v [ --version ]               show version
#  -n [ --network_interface ] arg dds network interface

# start server
sudo ./brainco_hand_server --network eth0
# Simplified (defaults apply)
sudo ./brainco_hand_server

# at another terminal, run test examples
# Usage: ./test_brainco_hand_server [left|right]
# Default is 'left' if not specified.
# Normally, you should see the dexterous hand repeatedly perform the actions of making a fist and opening.

# test left side
cd ~/brainco_hand_service/bin
sudo ./test_brainco_hand_server
# or test right side
sudo ./test_brainco_hand_server right

3. 🚀🚀🚀 Automatic Startup Service

After completing the above setup and configuration, and successfully testing test_brainco_hand_server, you can configure the test_brainco_hand_server to start automatically on system boot by running the following script:

cd ~/brainco_hand_service
bash setup_autostart.sh

Follow the prompts in the script to complete your configuration.

❓ FAQ

1. Error when make -j6:

   unitree@ubuntu:~/brainco_hand_service/build$ make -j6
   Scanning dependencies of target brainco_hand_server
   Scanning dependencies of target test_brainco_hand_server
   [ 50%] Building CXX object CMakeFiles/test_brainco_hand_server.dir/test/test_brainco_hand_server.cpp.o
   [ 50%] Building CXX object CMakeFiles/brainco_hand_server.dir/main.cpp.o
   /home/unitree/brainco_hand_service/test/test_brainco_hand_server.cpp:1:10: fatal error: unitree/idl/go2/MotorCmds_.hpp: No such file or directory
       1 | #include <unitree/idl/go2/MotorCmds_.hpp>
         |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   /home/unitree/brainco_hand_service/main.cpp:1:10: fatal error: unitree/idl/go2/MotorCmds_.hpp: No such file or directory
       1 | #include <unitree/idl/go2/MotorCmds_.hpp>
         |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   compilation terminated.
   compilation terminated.

   This error mentions that the unitree_sdk2 headfile could not be found. First compile and install unitree_sdk2:

   cd ~
   git clone https://github.com/unitreerobotics/unitree_sdk2
   cd unitree_sdk2
   mkdir build & cd build
   cmake ..
   sudo make install