DexHand Python Hardware Interface

Python interface for controlling dexterous robotic hands over CANFD using ZLG USBCANFD adapters. This package provides both direct control and ROS integration capabilities.

Features

• CANFD communication interface for DexHand hardware

• Joint-space control interface with feedback processing

• Built-in data logging and visualization tools

• ROS integration with both ROS1 and ROS2 support

• Hardware testing utilities

Documentation Contents

Contents:

• Quickstart Guide
  • Overview
  • Prerequisites
  • Hardware Setup
  • Installation
  • Usage Examples
  • Data Logging
  • Next Steps
• API Reference
  • DexHand Interface
  • DexHand Protocol
  • ZCAN Wrapper
  • DexHand Logger
  • Core Components

Getting Started

For new users:

1. Check the Quickstart Guide guide for installation and basic usage

2. Review the API documentation starting with DexHand Interface

3. Explore example applications in the Github repository

Prerequisites

• Linux environment

• Python 3.8+

• ZLG USBCANFD adapter (tested with USBCANFD-200U)

• ROS1/ROS2 (optional, for ROS integration)

Installation

Install via pip:

pip install -e .

Configure USB permissions:

sudo ./tools/setup_usb_can.sh

Next Steps

• Try the interactive testing interface:

  python tools/hardware_test/test_dexhand_interactive.py --hands right
  

• Experiment with ROS integration:

  python examples/ros_node/dexhand_ros.py
  

• Check out the DexHand Logger for data collection and analysis

Support

For issues, questions, or contributions:

• Check our GitHub Issues

• Submit pull requests via GitHub