Physical hand observation

Check the Ruiyan hand protocol before any finger command.

This observer sends only Ruiyan's documented read requests. It hashes the responses, rejects broadcast and write commands, and never sends motion, reset, calibration-write or configuration-write opcodes.

Updated 2026-09-20 · RLSOK

Download the Ruiyan observer

Use the confirmed RS485 framing

Ruiyan confirmed a 5 Mbps default for the 6-DoF RS485 hand, motor IDs 1–6, broadcast ID 0, little-endian multi-byte values and a low-8-bit additive checksum. The observer requires a unicast ID and never sends to ID 0.

The application protocol permits E6 serial-number, F0 firmware, A0 motor-information, A2 stiffness, A7 protection, AB travel, AE upper-limit and B0 lower-limit reads. Optional B2 tactile calibration requires an explicit coefficient index.

Download and capture once

The v1 ZIP is 24,072 bytes. Its SHA-256 is 947b67bf4325f120b61b906c8b339d46e7ad363c8171f9df4c15ab7772a56dc9. The published archive passed a Linux 5 Mbps pseudo-terminal run that exercised all eight default reads, response-ID checks, checksum validation and multi-frame firmware handling. A physical hand run is still required.

curl -fLO https://github.com/realitywarden/rlsok/releases/download/ruiyan-hand-status-observer-v1/rlsok-ruiyan-hand-status-observer-v1.zip
curl -fLO https://github.com/realitywarden/rlsok/releases/download/ruiyan-hand-status-observer-v1/rlsok-ruiyan-hand-status-observer-v1.zip.sha256
sha256sum -c rlsok-ruiyan-hand-status-observer-v1.zip.sha256
unzip rlsok-ruiyan-hand-status-observer-v1.zip
cd rlsok-ruiyan-hand-status-observer-v1/experimental/composable-shadow
python3 -m pip install pyserial
python3 ruiyan_hand_status.py --version
python3 ruiyan_hand_status.py   --port /dev/ttyUSB0   --device-id 1   --motor-count 6   --baud 5000000   --execute-read-only   --output ruiyan-hand-status-v1.json

What the JSON means

Each response used request ID + 256, echoed the read opcode and passed the additive checksum.
Raw serial numbers and payloads are omitted; response SHA-256 values support later comparison.
Readable protocol identity is explicitly not cryptographic device authentication.
The observer sent zero motion, configuration-write and broadcast commands.

Sources and verification scope

Source code and guides describe implementation and setup. Release notes identify reported checks and their limits. Publication alone does not establish customer use or physical-robot validation.

Frequently asked questions

Does the observer send bytes to the hand?

Yes. It transmits only the listed read requests after --execute-read-only is supplied. Zero motion commands does not mean zero serial traffic.

Does a passing file authenticate the physical hand?

No. The protocol exposes readable identity and configuration values but no signed challenge-response. Pair the file with the owner's normal physical session confirmation.

Continue with the relevant guide

Try the local example without an application. For setup or integration help, you can also contact us.