L20 Dexterous Hand

Quick Start

from realhand import L20

with L20(side="left", interface_name="can0") as hand:
    # Set angles
    hand.angle.set_angles([50.0] * 16)

    # Read angles
    data = hand.angle.get_blocking(timeout_ms=500)
    print(data.angles)

Constructor parameters

Joint Definition

L20 has 16 degrees of freedom distributed across 5 fingers.

Functional Modules

Unified Streaming Reads

L20 provides a unified event stream interface. Use hand.stream() and hand.start_polling() to retrieve data from all sensors. Polling starts automatically at initialization using default intervals (angles at 60 Hz, force sensors at 30 Hz), so you do not need to call start_polling() manually.

from realhand import L20
from realhand.hand.l20 import SensorSource, AngleEvent, TemperatureEvent

with L20(side="left", interface_name="can0") as hand:
    # You can set multiple sensors and polling intervals (seconds)
    # Calling start_polling() again overrides the previous settings
    hand.start_polling({SensorSource.ANGLE: 0.05, SensorSource.TEMPERATURE: 1.0})

    for event in hand.stream():
        match event:
            case AngleEvent(data=ad):
                print(f"Angles: {ad.angles.to_list()}")
            case TemperatureEvent(data=td):
                print(f"Temperature: {td.temperatures.to_list()}")

    hand.stop_polling()
    hand.stop_stream()

start_polling parameter

Available SensorSource values and default rates

Snapshot

Get the latest cached data from all sensors:

snap = hand.get_snapshot()
print(snap.angle)  # AngleData | None
print(snap.speed)  # SpeedData | None
print(snap.torque)  # TorqueData | None
print(snap.temperature)  # TemperatureData | None
print(snap.fault)  # FaultData | None
print(snap.force_sensor)  # AllFingersData | None