fourier_dexhand_sdk

Introduction

The DexHand SDK provides a set of interfaces for communication with the underlying dexterous hand device, enabling control and data interaction via the UDP protocol. The device is identified by its IP address.

Default Left Hand IP: 192.168.137.19
Default Right Hand IP: 192.168.137.39

The SDK supports both Python3 and C++ interfaces, and currently can only be used in Linux systems.

Getting Started

Ensure that the device is properly connected and the network configuration is correct. Please follow the instructions below to install and use the fourier_dexhand_sdk.

For Python Users

Dependencies

• Linux system (currently only Linux is supported)
• Python 3.10 (recommended)
• pybind11
• dexhandpy

Installation

Python Library Installation:

# pybind11
pip install pybind11
# released
pip install dexhandpy

Run the Example

cd example/python/
python3 fourier_dexhand_sdk_demo.py

For C++ Users

Dependencies

• Linux system (currently only Linux is supported)
• C++17 compiler（GCC or Clang）
• libFourierDexHand.so dynamic library file

Build the Project

cd example/cpp/
mkdir build && cd build
cmake ..
make

Run the Example

../bin/fourier_dexhand_sdk_demo

Communication Configuration

Connect the computer to the dexterous hand using an Ethernet cable. Configure the corresponding wired network IP address of the computer as a static IP, for example: 192.168.137.10

API Documentation

Python

fourier_dexhand_sdk_python_api

C++

fourier_dexhand_sdk_cpp_api

Example

Python

fourier_dexhand_sdk_demo.py

C++

fourier_dexhand_sdk_demo.cpp

Issues

Please report any issues or bugs! We will do our best to fix them.

License

Apache 2.0 © Fourier