Welcome to the Craft Hand SDK

Software Setup

• See these folders for setup details:
  • Python API

🔌 Hardware Setup

• Connect 5 V power to the hand (Dynamixels should light up on boot).
• Connect the Micro‑USB cable (or USB-C if you have newer U2D2).
• Use Dynamixel Wizard to find the correct port.
  ➡️ Put that port into main.py.
  ⚠️ You cannot have Dynamixel Wizard open while using the API (the port will be busy).
• On Ubuntu, find the hand by ID at /dev/serial/by-id (persistent across reboots).
• sudo chmod 666 /dev/serial/by-id/(your_id) to give serial port permissions.

Calibration

1. Run python python/main.py --calibrate
2. Manually move each finger's MCP and DIP joints through their full range of motion (min to max).
3. Calibration data is automatically saved to craft_hand_calibration.json.

🤖 Functionality

• Craft Node allows commanding joint angles in range of 0 to 2pi.
• You can read position, velocity, and current.
• Current limits:
  • Lite: ≈ 300 mA

🛠️ Troubleshooting

• Jittery motors → Lower P/D values.
• Inaccurate motors → Raise P/D values.

Acknowledgement

This codebase is adapted from the LEAP Hand API. Thanks to the LEAP Hand team for their excellent work and inspiration.

License

This project is licensed under the MIT License - see the LICENSE file for details.