CLI interface

You can use the CLI tool to test the Schunk SVH hand.

Usage

schunk_svh_cli -p <port> [-o <finger_order>] [-t <priority>] <action> [args]

Options

-p <port>                      Serial port (e.g., /dev/schunk_svh)
-o <finger_order>              Order in which to initialise fingers (default: 012345678)
-t <priority>                  Thread priority (default: 0 (lowest), range: 0 to 99)
--set-position <positions>     Set joint positions (comma-separated, 9 values)
--get-state                    Get joint states (position, velocity, effort)
--get-position-min <channel>   Get joint lower position limit
--get-position-max <channel>   Get joint upper position limit
--get-position-home <channel>  Get joint home position
--get-info                     Get firmware a-20nd device information

Example

• Device info :schunk_svh_api_cli -p /dev/schunk_svh --get-info

• Print state :schunk_svh_api_cli -p /dev/schunk_svh --get-state

• Get home position :schunk_svh_api_cli -p /dev/schunk_svh --get-position-home 0

Note

To communicate with the hand, you need to first initialise it. This will happen every time you run the CLI tool. It will calibrate the finger encoders by slowly driving the motors to their limits. If you want to avoid this, you can use the API directly in your application.