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Development Workflow

Table of Contents

Prerequisites

Install the following tools:

  • Install Pixi: https://pixi.prefix.dev/latest/installation/.
    • On Windows, to use pixi in Git Bash, add export PATH="$HOME/.pixi/bin:$PATH" to ~/.bashrc, then run source ~/.bashrc.
    • Verify installation: pixi --version
  • Rust and cargo are installed via pixi (included in pixi.toml).

Setup (Linux and Windows)

On regular Ubuntu (24.04) or Windows (Windows 11) machine, install the pixi environment (includes all Python dependencies). On Windows, Git Bash is tested.

# From repository root
pixi install

Optionally, verify the installation by running unit tests:

pixi run test-python-example 
pixi run test-demo
pixi run test-ahcontrol

Windows only (Rust / test-ahcontrol): pixi.toml adds vs2022_win-64 for win-64, which activates the MSVC toolchain (via vcvars64) when you run pixi shell or pixi run. You must have Visual Studio or Build Tools installed first (see Appendix). If you get a linker error (e.g. "extra operand", "link.exe not found"), install Build Tools per the Appendix, then run pixi install to refresh the environment. As a fallback, run pixi run test-ahcontrol from "x64 Native Tools Command Prompt for VS" (Start menu).

Setup (Raspberry Pi)

Raspberry Pi support is experimental and focuses on the haptic/tactile demos.

On Raspberry Pi OS (Debian-based), install system GPIO dependencies first:

sudo apt-get update
sudo apt-get install liblgpio-dev

Then create the pixi environment from the repository root:

pixi install

You can now run the haptic/tactile sensor test (from the repo root):

pixi run python -m amazinghand_sensors.haptic_test

Run Demos

Tested on Ubuntu 24.04 and Windows 11 (Git Bash).

Start Dora Daemon

Start the dora daemon using pixi:

pixi run dora up

Run a simple "finger angle" gesture demo in simulation

This runs AHSimulation/examples/finger_angle_control.py and streams targets into the MuJoCo viewer nodes. From the repository root:

pixi run dora-build-angle-simu   # once
pixi run dora-run-angle-simu

Note: Dora/MuJoCo demos are tested on Linux and Windows.

Start an interactive shell in the pixi environment:

pixi shell

Run Python Example

See PythonExample/README.md.

Run Demo with Physical Hands

See Demo/README.md. On Linux, add your user to the dialout group for serial port access. On Windows, edit the dataflow YAML for the COM port and AHControl.exe path.

Appendix

Install Microsoft Visual C++ (MSVC) Build Tools

Required for building the Rust crate (test-ahcontrol) on Windows. The vs2022_win-64 package in pixi.toml activates this toolchain automatically; you must install Build Tools first. Download and install:

  1. Download the Build Tools installer from: https://visualstudio.microsoft.com/visual-cpp-build-tools (or direct: https://aka.ms/vs/17/release/vs_BuildTools.exe).

  2. Run vs_BuildTools.exe. If the Visual Studio Installer is not installed, it will install first.

  3. In the installer, select the workload "Desktop development with C++". This includes the MSVC compiler, linker (link.exe), and Windows SDK.

  4. On the right-hand "Installation details" panel, ensure "MSVC v143 - VS 2022 C++ x64/x86 build tools" and "Windows 10/11 SDK" (or similar) are checked. Click Install.

  5. After installation, run pixi install (if needed) and pixi run test-ahcontrol. The vs2022_win-64 package locates your install via vswhere and runs vcvars64 so the correct linker is on PATH.