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
Getting Started
For new users:
Check the Quickstart Guide guide for installation and basic usage
Review the API documentation starting with DexHand Interface
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