Our robot has two hands. Both are the Wessling robotics 5-fingered hands. The left hand is a second revision of the 5-fingered design. The left hand has different mechanics and electronics than the right hand. Also the left hand requires a different computer controller (left hand uses the taller gray controller).
IMPORTANT!
ADVICE: Read all the steps previously before you start. The answer of your question might be in the next steps!
Precautions
You must have connected both the hand controller, and the hand to a power source.
DON'T move the fingers of the hand manually, it can break the hand!
When using the hand, maintain your hand in the emergency switch in case something goes wrong.
Connect everything together:
Connect the controller power supply to the AC power. When the hand controller is connected, the controller turns on automatically.
Check that the emergency switch is off and then turn the hand power supply on (the one on the power adapter).
Configure your computer and the hand controller in a way that you can ssh to the hand controller (as root) without password. Instructions here. (You only have to do this once).
Now you must copy the code to control the hand. First do:
ssh-add
sudo apt-get install qt5-qmake qt5-default autoconf automake libtool build-essential libboost-program-options-dev
cd ~/local/src
git clone git@gitlab.com:open-wessling-drivers/wessling_hand_private.git
cd ~/local/DIR/
xstow -D ard/
cd ~/local/src/wessling-hand-private/libard
autoreconf -i
./configure --prefix=${HOME}/local/DIR/libard
make -j5
make install
cd ~/local/DIR
stow libard
cd ~/local/src/wessling-hand-private/FFH
qmake -r
make
./FFH --com_ip 192.168.200.10 --hand_ip 192.168.200.1
ssh root@192.168.200.1
ps # kill all ardnet processes and test_model
kill <process_number> # repeat for each process to kill.
# For test_model use kill -9
killall ardnet