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iotdesignshop / manus_ros2

ROS 2 Node for Publishing Manus VR Glove Messages to ROS 2
MIT License
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Retrieve Joint Angles from MANUS SDK #3

Open ismael-esp opened 1 month ago

ismael-esp commented 1 month ago

Hi,

I hope you're doing well. First, thank you for your work on this repository.

I'm currently mapping the movement from the MANUS gloves to a robotic hand, and I've encountered a need that would significantly simplify the process. The demonstration video shows joint angles (of each phalanx). Is there a direct way to obtain these joint angles from the MANUS SDK instead of the relative x,y, and z values?

If not, please share the method to convert the provided relative positions into joint angles. This would be extremely helpful. Thank you for your time.c

tshumay commented 1 month ago

Hello! Thanks for your interest.

We do have an example of this in our repo for the DexHand V1 - the joint angle functions are a bit subjective and application specific, so we've avoided putting them in the main node. This repo may be useful to see how we did it for our hand:

https://github.com/iotdesignshop/dexhand_manus

There's also a full ROS2 meta package for the V1 DexHand as well if you want to run the full pipeline through to RVIZ2.