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 with GUI slider interface

  • Advanced control modes for precision grasping and force control

Documentation Contents

Contents:

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

  • Use the GUI slider interface for visual control:

    pip install PyQt6
python examples/dexhand_gui.py

  • Experiment with ROS integration:

    python examples/ros_node/dexhand_ros.py

  • Check out the DexHand Logger for data collection and analysis

  • Explore advanced control modes in Control Modes and Advanced Options

Support

For issues, questions, or contributions: