Touch hand release

.gitignore

@@ -93,7 +93,6 @@ celerybeat-schedule
 # Environments
 .env
 .venv
-uv.lock
 env/
 venv/
 ENV/
@@ -124,12 +123,9 @@ urdf/
 
 dev_scripts/
 
-calibration.yaml
+orca_core/models/*
 
 # macOS
 .DS_Store
 
 .pytest_cache/
-
-# not storing the lockfile (as of now)
-uv.lock

CLAUDE.md

@@ -48,7 +48,6 @@ docs/                 # Documentation
 
 - Use conventional commits: `Add feature`, `Fix bug`, `Update docs`
 - Keep messages concise and descriptive
-- Do NOT add `Co-Authored-By` lines
 
 ---
 

orca_core/__init__.py

@@ -8,16 +8,20 @@
 from .calibration import CalibrationResult
 from .hand_config import BaseHandConfig
 from .hand_config import OrcaHandConfig
+from .hand_config import OrcaHandTouchConfig
 from .hand_config import canonical_joint_ids
 from .hardware_hand import OrcaHand
+from .hardware_hand import OrcaHandTouch
 from .joint_position import OrcaJointPositions
 from .version import LATEST_VERSION
 
 __all__ = [
     "CalibrationResult",
     "BaseHandConfig",
     "OrcaHandConfig",
+    "OrcaHandTouchConfig",
     "OrcaHand",
+    "OrcaHandTouch",
     "OrcaJointPositions",
     "canonical_joint_ids",
     "LATEST_VERSION",

orca_core/constants.py

@@ -20,6 +20,9 @@
         0x1A86,  # QinHeng Electronics CH340 (most Feetech USB adapters)
         0x10C4,  # Silicon Labs CP210x (some Feetech boards)
     ],
+    "tactile_sensor": [
+        0x28E9,  # Paxini tactile sensor USB adapter
+    ],
 }
 
 # Baudrates the connect-time probe will try, per motor family, in priority

orca_core/hand_config.py

@@ -6,6 +6,7 @@
 # See the LICENSE file at the root of this repository for full license information.
 # ==============================================================================
 
+import dataclasses
 import os
 from dataclasses import dataclass, field
 from typing import Dict, List, Literal, Optional
@@ -19,6 +20,13 @@
     MOTOR_IDS,
     SUPPORTED_MOTOR_TYPES,
 )
+from .hardware.sensing.constants import (
+    FINGER_NAMES,
+    VALID_SENSOR_IDS,
+    DEFAULT_SENSOR_PORT,
+    DEFAULT_SENSOR_BAUDRATE,
+    DEFAULT_FINGER_TO_SENSOR_ID,
+)
 from .joint_position import OrcaJointPositions
 from .utils.utils import get_model_path, read_yaml
 
@@ -336,4 +344,59 @@ def __post_init__(self) -> None:
         self.validate_config()
 
 
+@dataclass(frozen=True)
+class OrcaHandTouchConfig(OrcaHandConfig):
+    """ORCA hand configuration with tactile sensor support."""
+
+    sensor_port: str = DEFAULT_SENSOR_PORT
+    sensor_baudrate: int = DEFAULT_SENSOR_BAUDRATE
+    finger_to_sensor_id: Dict[str, int] = field(
+        default_factory=lambda: dict(DEFAULT_FINGER_TO_SENSOR_ID)
+    )
+
+    @classmethod
+    def from_config_path(
+        cls,
+        config_path: str | None = None,
+        calibration_path: str | None = None,
+        model_version: str | None = None,
+        model_name: str | None = None,
+    ) -> "OrcaHandTouchConfig":
+        base = OrcaHandConfig.from_config_path(
+            config_path=config_path,
+            calibration_path=calibration_path,
+            model_version=model_version,
+            model_name=model_name,
+        )
+
+        config = read_yaml(base.config_path)
+        sensors = config.get("sensors", {})
+
+        sensor_kwargs = {}
+        if "port" in sensors:
+            sensor_kwargs["sensor_port"] = sensors["port"]
+        if "baudrate" in sensors:
+            sensor_kwargs["sensor_baudrate"] = int(sensors["baudrate"])
+        if "finger_to_sensor_id" in sensors:
+            sensor_kwargs["finger_to_sensor_id"] = dict(sensors["finger_to_sensor_id"])
+
+        return cls(**{f.name: getattr(base, f.name) for f in dataclasses.fields(base)}, **sensor_kwargs)
+
+    def validate_config(self) -> None:
+        super().validate_config()
+
+        if set(self.finger_to_sensor_id.keys()) != set(FINGER_NAMES):
+            raise HandConfigValidationError(
+                f"finger_to_sensor_id must contain exactly {FINGER_NAMES}, "
+                f"got {sorted(self.finger_to_sensor_id.keys())}"
+            )
+
+        ids = set(self.finger_to_sensor_id.values())
+        if ids != VALID_SENSOR_IDS:
+            raise HandConfigValidationError(
+                f"finger_to_sensor_id values must be 0-4 with no duplicates, "
+                f"got {sorted(self.finger_to_sensor_id.values())}"
+            )
+
+
 HandConfig = BaseHandConfig