roboparty_hand

CAN-FD driver and Python bindings for the Leadshine DH116 6-DOF dexterous robot hand.

Requirements

Dependency	Purpose
C++17 compiler	Build
CMake >= 3.16	Build
spdlog	Logging
yaml-cpp	Config parsing
pybind11	Python bindings
LHandProLib	DH116 protocol library (bundled)

Build

sudo apt install cmake python3-dev pybind11-dev libspdlog-dev libyaml-cpp-dev

cmake -B build -DCMAKE_INSTALL_PREFIX=/opt/roboparty -DCMAKE_BUILD_TYPE=Release
cmake --build build
sudo cmake --install build

Debian package

dpkg-buildpackage -b -us -uc
sudo dpkg -i ../roboparty-hand_*.deb

Udev Setup

Create /etc/udev/rules.d/99-canfd.rules before connecting:

ACTION=="add", SUBSYSTEM=="net", KERNEL=="can*", RUN+="/sbin/ip link set $name type can bitrate 1000000 dbitrate 5000000 fd on", RUN+="/sbin/ip link set $name up"

Then reload:

sudo udevadm control --reload-rules && sudo udevadm trigger

Configuration

config/hand.yaml maps hand names to CAN interfaces:

left_hand:
  can_interface: can0
  type: LRO
  protocol: canfd

right_hand:
  can_interface: can1
  type: LRO
  protocol: canfd

Installed to /opt/roboparty/share/roboparty_hand/config/.

Python API

import hand_py
import time

left = hand_py.HandDriver()
left.connect_by_config("config/hand.yaml", "left_hand")
dof = left.get_active_dof()

for j in range(dof):
    left.set_enable(j, 1)

left.set_positions([500.0, 500.0, 500.0, 500.0, 500.0, 500.0])
time.sleep(0.1)

angles = left.get_now_angles(dof)
print(angles)

left.disconnect()

API reference

Method	Description
connect(device_index=0)	Connect by CAN interface index
connect_by_config(path, name)	Connect by YAML config and hand name
disconnect()	Close the connection
is_connected()	Check connection status
get_active_dof()	Number of active DOF
set_enable(joint_id, enable)	Enable/disable a motor (0/1)
set_position(joint_id, pos)	Set target position
get_position(joint_id)	Get target position
get_now_position(joint_id)	Get current position
get_now_angle(joint_id)	Get current angle (degrees)
get_now_position_velocity(joint_id)	Get current velocity
get_now_current(joint_id)	Get current draw (mA)
set_position_velocity(joint_id, vel)	Set velocity limit
get_position_velocity(joint_id)	Get velocity limit
get_max_current(joint_id)	Get max current (mA)
set_max_current(joint_id, cur)	Set max current (mA)
get_control_mode(joint_id)	Get control mode
set_control_mode(joint_id, mode)	Set control mode
home_motors(joint_id)	Home motor
move_motors(joint_id)	Move motor after homing
get_now_alarm(joint_id)	Get alarm status

Batch methods (inference-friendly):

Method	Description
set_positions(positions)	Batch set target positions
get_now_angles(count)	Batch read angles → list[float]
get_now_positions(count)	Batch read positions → list[int]

C++ API

#include "hand_driver.hpp"

hand::HandDriver driver;
driver.connect("config/hand.yaml", "left_hand");
driver.setEnable(0, 1);
driver.setPosition(0, 1000);

float angles[6];
driver.getNowAngles(angles, 6);

Link with CMake:

find_package(roboparty_hand REQUIRED)
target_link_libraries(my_app roboparty_hand::handcontroller)

License

GPL-3.0 — see LICENSE.