Task #204
Updated by Sanghoon Lee 2 months ago
uSPR46 already have data from the real device, for the other ones we still need data (raw messages)
- JSON message from the websocket
The models I already have:
> * uSPa46 {{collapse
<pre><code class="javascript">
[2026-01-14T13:40:06.957662] [JSON]
{
"message": 19299,
"time": 1768365606.9563737,
"sensors": 2,
"type": "routine",
"version": "1.8.0b_208601",
"1": {
"time": 1768365606.6570773,
"sensor": "1",
"data": "8125,81B2,92B8,80C9,80C7,8E74,807F,8147,8D93,808F,8160,8D15,80BD,8054,8CF0,7FA5,7F6E,92FD,80F4,8160,8EB6,8029,810D,8D94,8106,8015,8BF9,80D1,7FC6,8C53,80C7,7FBA,8CBB,801C,7F1B,903C,81DB,80B4,8EE5,80FB,805F,8C26,8138,801F,8C0A,811A,8014,8C09,80BA,7FB8,8C6F,804E,7F32,8EC3,81D5,805C,908B,816D,8053,8F35,812E,7F24,8E2F,80E7,7F4A,8D8D,819B,7EE4,8E5F,8121,7E2B,91F0",
"model": "uSPa46",
"taxels": 24,
"calibrated": [
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0.0,
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0.0,
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0.00114,
-7e-05,
0.00066,
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0.00307,
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0.00158,
0.00067,
-0.00155,
0.00259,
-8e-05,
-0.00094,
-0.00116,
-0.00206,
-0.00135,
-0.00101,
-0.00155,
-0.00077,
0.00299,
0.0,
-0.0,
0.0,
-0.00089,
0.00161,
0.00297,
-7e-05,
-0.00012,
0.00139,
0.00083,
-0.00123,
0.00011,
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0.00286,
0.00029,
0.00044,
0.00035,
0.00143,
0.00071,
0.00132,
-0.0,
0.0,
0.00123,
5e-05,
0.00087,
0.00127,
-0.0,
-1e-05,
-0.00095
],
"integer": [
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],
"temp": [
308.0,
305.5,
305.3,
297.2,
292.6,
302.4,
305.6,
307.3,
306.6,
307.4,
305.0,
305.4,
307.2,
306.1,
307.0,
306.9,
306.6,
307.0,
305.0,
307.0,
307.2,
307.1,
306.7,
303.9
],
"handedness": "right",
"ups": [
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5
]
},
"2": {
"time": 1768365606.6422975,
"sensor": "2",
"data": "809D,81B6,91C0,8068,8144,8E88,8000,81BF,8E03,802F,8086,8ACA,8035,800F,8AD1,8005,7FCB,90B2,805B,8088,902E,80CB,800D,8B38,806B,801F,8B9C,7FFF,8058,8A6A,809A,802F,8C3C,803F,7FB6,8EA7,8173,8057,8DFB,8077,80D6,8C7B,8050,8073,8B2B,806F,8022,8AA3,8064,7FFB,8BF4,8066,7FFE,8D95,8318,80B6,922F,813A,8076,8F49,8094,7FDE,8BB5,80DE,7F80,8CC9,80D9,7F98,8D92,7FB9,7EB9,9005",
"model": "uSPa46",
"taxels": 24,
"calibrated": [
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0.00127,
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0.00265,
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-0.00135,
0.00024,
0.0015,
0.00146,
0.00074,
-0.00164,
6e-05,
0.00012,
-0.00105,
0.0015,
-0.00028,
0.00314,
-5e-05,
0.00126,
-0.00503,
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0.00177,
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0.00133,
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0.0001,
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8e-05,
0.00209,
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0.00132,
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0.00019,
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0.0014,
0.00119,
0.00265,
0.0,
-0.0,
0.0,
0.00088,
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9e-05,
7e-05,
0.00173,
0.00084,
0.00053,
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0.00251,
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],
"integer": [
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],
"temp": [
300.1,
306.5,
308.5,
292.8,
300.1,
303.4,
305.8,
306.8,
306.8,
303.9,
305.5,
304.3,
306.1,
306.5,
307.6,
307.6,
305.1,
306.1,
304.8,
306.3,
304.5,
306.9,
304.6,
303.7
],
"handedness": "right",
"ups": [
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5,
2.5
]
},
"sendtime": 1768365606.9573154
}
</code></pre>
}}
Needed model:
- For Grippers
> * *uSPrDS* uSPrDS
> * *uSPrHE35* uSPrHE35
> * uSPrWSG50
- For Robot Hands
> * *Allegro Allegro Hand v4 Curved* Curved
> * LEAP Hand(?)
> * DG-5F-M(?)