mc_manus_plugin

This plugin gets the data of the Manus gloves using the tools of Manus gloves for the C++ SDK of Linux you could look the documentation in the official web site, it get the ros topics inside of the controller easily.

Dependencies

• mc_rtc
• ROS2

Prerequisites to install

Installing required packages with a single line sudo: Installing required packages

sudo apt-get update && sudo apt-get install -y build-essential git libtool libzmq3-dev libusb-1.0-0-dev zlib1g-dev libudev-dev gdb libncurses5-dev && sudo apt-get clean

Clone the GRPC repository and all its submodules from GitHub to your local machine using the following command:

sudo git clone -b v1.28.1 https://github.com/grpc/grpc /var/local/git/grpc && cd /var/local/git/grpc && sudo git submodule update --init --recursive

Install the protobuf dependency by running the following command:

cd /var/local/git/grpc/third_party/protobuf && sudo ./autogen.sh && sudo ./configure --enable-shared && sudo make -j$(nproc) && sudo make -j$(nproc) check && sudo make install && sudo make clean && sudo ldconfig

Finally install GRPC by running the command below:

cd /var/local/git/grpc && sudo make -j$(nproc) && sudo make install && sudo make clean && sudo ldconfig

Core Integrated

sudo apt-get update && sudo apt-get install -y build-essential libusb-1.0-0-dev zlib1g-dev libudev-dev gdb libncurses5-dev && sudo apt-get clean

Device rules: To allow connections to MANUS hardware you need to place the following file in the etc/udev/rules.d/ directory. This will allow the devices to be recognized and accessed by the system. After doing this, a full reboot is recommended to apply the changes. The naming of the file is relevant we recommend naming it 70-manus-hid.rules.

70-manus-hid.rules

# HIDAPI/libusb
SUBSYSTEMS=="usb", ATTRS{idVendor}=="3325", MODE:="0666"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="83fd", MODE:="0666"

# HIDAPI/hidraw
KERNEL=="hidraw*", ATTRS{idVendor}=="3325", MODE:="0666"

Install the packages of manus

To use the Manus Core 3 you need to download the MANUS Core 3 SDK (including ROS2 Package)

And you have to click in this option:

This will give you a .zip that you will have to put in your workspace. The File that you have to focus on is, SDKClient_Linux

Docker

Instead of setting up a linux machine, you can also use docker to set up your development environment. Dockerfiles for both integrated and remote. For this implementation you should use the integrated mode, so you could have everything in linux environment.

Build integrated docker image

docker build -f ./Dockerfile.Integrated -t manus-linux-integrated .

Once the Docker image is built, run a container with the manus-linux-integrated image. The --net=host is not strictly necessary but helps the container communicate out of its context. The --privileged parameter is required to access the USB glove devices, so is mounting the /dev and /run/udev directories.

Run integrated docker container

docker run -p 5000:5000 --privileged -v /dev:/dev -v /run/udev:/run/udev -i -t manus-linux-integrated /bin/bash

Install

git clone https://github.com/Hugo734/mc_manus_plugin
cd mc_manus_plugin
mkdir build && cd build
# Please edit the INSTALL_PREFIX depending on your installation
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=${HOME}/workspace/install #-DWITH_ROS=OFF
make
make install

Compilation

For compiling the examples we have three diffrent options.

1. Make
2. Visual Studio Code
3. Visual Studio (remote cross compile)

Make

A Makefile is present within the SDKMinimalCLient_Linux and SDKClient_Linux folders inside the MANUS SDK package. The example can be compiled using the following command.

make all

Usage

In order to use this plugin, please consider adding the following line to your configuration file (~/.config/mc_rtc/mc_rtc.yaml).

Also you need to run the

Plugins: [ManusPlugin]

After following the instructions for USB or ROS, you can run your controller. A new table ManusPlugin should appear in mc_rtc_panel.

---
ManusPlugin:
  - name: "right_hand"
    topic: "/manus_glove_0"

  - name: "left_hand"
    topic: "/manus_glove_1"

Get the information

To get the device info please consider adding the following line to your controller :

if(gc.controller().robot().hasDevice<mc_rbdyn::ManusDevice>("leaf_hand"))
    {
      auto & manus_glove = gc.controller().robot().device<mc_rbdyn::ManusDevice>("left_hand");
      const auto & manus_info = manus_glove.data();
      std::cout << manus_info.gloveId << std::endl;
    }

Each entry creates an mc_rbdyn::ManusDevice attached to parent. Run your controller and a ManusPlugin tab will appear in mc_rtc_panel.

Please note that you can set multiple manuss (e.g. /etc/ManusPlugin.yaml)