Acceleration Control

Use hand.acceleration to control and read the acceleration of the 6 joint motors on the O6 dexterous hand.

• Acceleration range: 0-100
• Maximum acceleration: 2209.8 deg/s² at value 100

Set Acceleration

from realhand import O6
from realhand.hand.o6 import O6Acceleration

# Using a list
hand.acceleration.set_accelerations([80.0, 80.0, 80.0, 80.0, 80.0, 80.0])

# Using an O6Acceleration object
accel = O6Acceleration(
    thumb_flex=80.0,  # Thumb flexion
    thumb_abd=80.0,  # Thumb abduction
    index=80.0,  # Index finger
    middle=80.0,  # Middle finger
    ring=80.0,  # Ring finger
    pinky=80.0,  # Pinky
)
hand.acceleration.set_accelerations(accel)

Read Acceleration

Blocking Read

from realhand import O6
from realhand.exceptions import TimeoutError

try:
    data = hand.acceleration.get_blocking(timeout_ms=500)
    print(f"Thumb flexion: {data.accelerations.thumb_flex}")
    print(f"All accelerations: {data.accelerations.to_list()}")
except TimeoutError:
    print("Read timed out")

Cached Read

data = hand.acceleration.get_snapshot()
if data:
    print(f"Acceleration: {data.accelerations.to_list()}")
    print(f"Timestamp: {data.timestamp}")

Streaming Read

Receive all sensor events through the top-level hand.stream() interface:

from realhand.hand.o6 import SensorSource, AccelerationEvent

hand.start_polling({SensorSource.ACCELERATION: 0.1})

for event in hand.stream():
    match event:
        case AccelerationEvent(data=data):
            print(f"Acceleration: {data.accelerations.to_list()}")

hand.stop_polling()
hand.stop_stream()

deg/s² Conversion

O6Acceleration supports conversion to and from the physical unit deg/s².

Convert to deg/s²

from realhand.hand.o6 import O6Acceleration

accel = O6Acceleration(50.0, 50.0, 50.0, 50.0, 50.0, 50.0)
deg_s2_values = accel.to_deg_per_sec2()
print(deg_s2_values)  # [1104.9, 1104.9, 1104.9, 1104.9, 1104.9, 1104.9]

Create from deg/s²

from realhand.hand.o6 import O6Acceleration

# Set all joint motor accelerations to 1000 deg/s²
accel = O6Acceleration.from_deg_per_sec2([1000.0] * 6)

# Set different accelerations
accel = O6Acceleration.from_deg_per_sec2(
    [
        1500.0,  # Thumb flexion
        1200.0,  # Thumb abduction
        1800.0,  # Index finger
        1800.0,  # Middle finger
        1800.0,  # Ring finger
        1800.0,  # Pinky
    ]
)

Complete Example

from realhand import O6
from realhand.hand.o6 import O6Acceleration

with O6(side="left", interface_name="can0") as hand:
    # Set a lower acceleration for smoother motion
    hand.acceleration.set_accelerations([30.0] * 6)

    # Set acceleration using deg/s²
    accel = O6Acceleration.from_deg_per_sec2([1000.0] * 6)
    hand.acceleration.set_accelerations(accel)

    # Read current acceleration
    data = hand.acceleration.get_blocking(timeout_ms=500)
    print(f"Current acceleration: {data.accelerations.to_list()}")
    print(f"In deg/s²: {data.accelerations.to_deg_per_sec2()}")