Manus Teleoperation

This repository utilizes ROS2 and the Manus Gloves to control various grippers. The manus_ros2 package is from the official site, specifically Manus Core 3.0.1.

Tested on Ubuntu 22.04 with ROS2 Humble/Python 3.10

We currently support the following grippers:

• Alt-Bionic's Surge Hand
• Psyonic's Ability Hand

Pre-Installation

Due to GitHub's file size limitations, the lib folders in ManusSDK are missing. You will need to download ManusSDK/lib from the official Manus website. Copy and paste the contents into this repository's manus_ros2/src/manus_ros2/ManusSDK/lib.

Quickstart

1. Build the ROS2 package and source

   cd manus_ros2
   source /opt/ros/humble/setup.bash
   colcon build
   source install/setup.bash
   

2. Connect your Manus Glove(s) to your PC
3. Run the Manus Data Publisher Node

   ros2 run manus_ros2 manus_data_publisher
   

4. Run the corresponding teleoperation script

   python src/manus_ros2/client_scripts/manus_surge_teleop.py
   

Hand Scaling (with MANUS Gloves and ROS2)

1. Follow the instructions to install manus_ros2

2. Run the Manus data publisher

   ros2 run manus_ros2 manus_data_publisher
   

3. Source the manus_ros2 package in another terminal and run ros2 topic echo /manus_glove_0.

4. Place your hand on a horizontal non-metal surface and close your fingers, but point your thumb outwards.

   

   Note the following joints and their values:

   • ThumbMCPSpread
   • ThumbMCPStretch
   • IndexMCPStretch
   • MiddleMCPStretch
   • RingMCPStretch
   • PinkyMCPStretch

   These values will be the lower bounds for your range.

5. Move your thumb towards your palm.

   

   Note the ThumbMCPStretch joint and its value. This is the upper bound of your ThumMCPStretch's range.

6. Position your fingers like a thumbs up

   

   Note the following joints and their values:

   • IndexMCPStretch
   • MiddleMCPStretch
   • RingMCPStretch
   • PinkyMCPStretch

   These values will be the upper bounds for your range.

7. While opening your hand and keep your four fingers touching, move the thumb to the base of the pinky finger

   

   Note the ThumbMCPSpread joint and its value. This is the upper bound of your ThumbMCPSpread's range

8. Nagivate to your desired teloperation script. In the listener_callback function, modify the formulas to match your individual range.

   The formula to normalize the value is:

   (ergo_data.value − lower bound) / (upper bound − lower bound) × 100

   You may have to perform additional adjustments due to the difference in grippers.