ORCA v1 Hand灵巧手使用说明-2.启动测试（右手）

检查配置文件（例如orca_core/orca_core/models/orcahand_v1_right/config.yaml）

并确保它与您的硬件设置相匹配。

修改

linux端：端口改为/dev/ttyUSB0

python3 -m venv venv_right  #执行一遍，后面启动就不需要再次执行了

source venv_right/bin/activate

运行张力和校准脚本：

张力

cd /home/robot/projects/OrcaHand/orca_core

python scripts/tension.py orca_core/models/orcahand_v1_right

灵巧手的手指使能，用手无法扳动。

校准

cd /home/robot/projects/OrcaHand/orca_core

python scripts/calibrate.py orca_core/models/orcahand_v1_right

校准前：

校准后：

将手移至中立位置：

python scripts/neutral.py orca_core/models/orcahand_v1_right

案例Demo

python3 scripts/main_demo.py orca_core/models/orcahand_v1_right

python3 scripts/main_demo_abduction.py orca_core/models/orcahand_v1_right

python scripts/zero.py orca_core/models/orcahand_v1_right

python3 scripts/slider_joint.py orca_core/models/orcahand_v1_right

python3 scripts/slider_motor.py orca_core/models/orcahand_v1_right

python3 scripts/test.py

python3 scripts/record_angles.py orca_core/models/orcahand_v1_right

Ctrl+C后自动保存成带有时间的yaml文件

选取其中一个录制好的动作序列，指定文件名，例如：

python3 scripts/replay_angles.py orca_core/models/orcahand_v1_right --replay_file /home/robot/projects/OrcaHand/orca_core/replay_sequences/replay_sequence_20251224_155748.yaml