Rock Paper Scissors

Note

Available for Foxglove simulation environment without real robotic hardware!

The RZ/V Demo RPS (Rock Paper Scissors) package provides the following features:

Rock-Paper-Scissors controller: detects rock, paper, and scissors gestures in real time, executes the game logic, and sends commands to control the robotic hand accordingly.
Compatible with the Inspire RH56 Dexhand and Ruiyan RH2 robotic hands.
Supports RPS object detection and interpretation.
Supports simultaneous control of virtual and physical dexterous hands.
Supports visualization through Foxglove Studio.

Quick hardware setup instructions

Complete the Prerequisites for Running Sample Applications.
Optional: Connect the dexterous hand to the RZ/V2H RDK board if you want to control the real hand.

Note

Before using the Ruiyan RH2 Dexhand, ensure that the hand is properly initialized using the provided setup script located in ruiyan_rh2_dexhand/setup/ruiyan_rh2_init.sh or in install/ruiyan_rh2_dexhand/share/ruiyan_rh2_dexhand/setup/ruiyan_rh2_init.sh after installation.
Connect a compatible USB camera to the RZ/V2H RDK board for Rock Paper Scissors gesture detection.

Quick software setup instructions

Note

All subsequent operations must be executed inside the cross-compilation Docker container, which was set up in the common setup step.

Clone the required source from GitHub by using the vcs tool inside the Docker container.

Get the ros2_demo_workspace repository first:
```
cd ~/ros2_ws
git clone https://github.com/renesas-rdk/ros2_demo_workspace.git
```
Import the repositories by using the vcs command:
```
vcs import < ./ros2_demo_workspace/vcs_manifests/rock_paper_scissors.target.lock.repos
```
It will clone all required repositories to the ./src folder.
Cross-compile the ROS 2 workspace and deploy it to the RZ/V2H RDK board.

Install the dependencies to the target board first:
```
sysroot-rosdep-install
```
It will take time if you run this command for the first time.

Copy the hand control library to the sysroot:
```
sudo cp /home/ubuntu/ros2_ws/src/ruiyan_rh2_controller/rh6_ctrl/lib/libRyhandArm64.so $V2H_SYSROOT/usr/lib/aarch64-linux-gnu/
```
Cross-build the application:
```
cross-colcon-build
```
Deploy the binaries to the target board:
```
scp -r install ubuntu@board_ip:~/ros2_ws/
```
Note

Replace board_ip with the actual IP address of your board. Ensure that the ros2_ws directory exists at /home/ubuntu on the target board before running the scp command.

Start the application

Install the required dependencies on the RZ/V2H RDK board.
```
cd /home/ubuntu/ros2_ws
source /opt/ros/jazzy/setup.bash
rosdep install --from-paths ./install/*/share -y -r --ignore-src
```
The /home/ubuntu/ros2_ws directory is the location where you copied the cross-compiled workspace on the board.
Application rules:
- Similar to the traditional game.
- The user initiates a game by showing the “HI” pose (scissors gesture) in front of the camera.
- The robotic hand performs a 1-2-3 countdown to signal the start of the round.
- When the countdown is finished, the player must show a chosen gesture (rock, paper, or scissors) within 2 seconds. If no gesture is detected within this time, the game is aborted.
- After the player gives a choice, the robotic hand randomly selects and displays rock, paper, or scissors.
- The game result is then displayed by the robotic hand using the following gestures: OK for draw, thumbs down for lose, and victory for win.
- Wait 2 seconds after the result is shown before starting a new game.

Launch the Rock Paper Scissors application.

Load the workspace environment:

source /opt/ros/jazzy/setup.bash
source ./install/setup.bash

For real dexterous hand control, use:

# For Inspire RH56 hand
ros2 launch rzv_demo_rps demo_physical_inspire_rh56_hand_rps.launch.py

# For Ruiyan RH2 hand
ros2 launch rzv_demo_rps demo_physical_ruiyan_rh2_hand_rps.launch.py

For virtual hand control (without a real dexterous hand), use:

# For Inspire RH56 hand
ros2 launch rzv_demo_rps demo_virtual_inspire_rh56_hand.launch.py

# For Ruiyan RH2 hand
ros2 launch rzv_demo_rps demo_virtual_ruiyan_rh2_hand.launch.py

For simulation using Foxglove Studio, refer to the Foxglove Visualization section for setup instructions.

The input layout file for Foxglove Studio is located at rzv_demo_rps/config/foxglove/demo_rps.json inside the ROS 2 workspace.

For more details about the Rock Paper Scissors application, refer to the README.md in the rzv_demo_rps package.

v1.0.0 (2026-03-31): Initial release of the Rock Paper Scissors sample application.