# linkerhand-python-sdk
**Repository Path**: lauka1026/linkerhand-python-sdk
## Basic Information
- **Project Name**: linkerhand-python-sdk
- **Description**: github https://github.com/linker-bot/linkerhand-python-sdk 灵心巧手SDK镜像
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No
## Statistics
- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-01-20
- **Last Updated**: 2026-01-20
## Categories & Tags
**Categories**: Uncategorized
**Tags**: None
## README
# LinkerHand-Python-SDK
## 概述 Linker Hand [灵心巧手(北京)科技有限公司](https://linkerbot.cn/index)
专注于人工智能和机器人解决方案，帮助开发者、企业、科研机构快速实现真实场景落地
[中文](README_CN.md) | [English](README.md)
## 注意
- 请确保灵巧手未开启其他控制，如linker_hand_sdk_ros、动捕手套控制和其他控制灵巧手的topic。以免冲突。
- 请将固定灵巧手，以免灵巧手在运动时跌落。
- 请确保灵巧手电源与USB转CAN连接正确。
| Name | Version | Link |
| --- | --- | --- |
| Python SDK |     | [](https://github.com/linker-bot/linkerhand-python-sdk) |
| ROS SDK |     | [](https://github.com/linker-bot/linkerhand-ros-sdk) |
| ROS2 SDK |      | [](https://github.com/linker-bot/linkerhand-ros2-sdk) |
## Installation
您可以在安装requirements.txt后的情况下运行示例。仅支持 Python3。
- download
```bash
$ git clone https://github.com/linker-bot/linkerhand-python-sdk.git
```
- install
```bash
$ cd linkerhand-python-sdk/
$ pip3 install -r requirements.txt
```
- 快速使用示例 by CAN
编辑config/setting.yaml配置文件，按照配置文件内注释说明进行参数修改,配置CAN: "can0"(根据实际硬件情况来确定，一般第一个为can0)，配置MODBUS:"None"
```bash
# Open the CAN port
$ sudo /usr/sbin/ip link set can0 up type can bitrate 1000000 # USB-to-CAN device blue light stays solid. This step can be skipped on Ubuntu systems after modifying setting.ymal as required.
$ cd examples/gui_control
$ sudo chmod a+x gui_control.py
$ python3 gui_control.py
```
## RS485 协议使用 当前支持O6/L6/L10，其他型号灵巧手请参考[官网MODBUS RS485协议文档](https://document.linkeros.cn/developer/90) 注：如不确定协议类型，请咨询技术支持。
编辑config/setting.yaml配置文件，按照配置文件内注释说明进行参数修改,将MODBUS:"/dev/ttyUSB0"，配置文件中"modbus"参数为"/dev/ttyUSB0"。USB-RS485转换器在Ubuntu上一般显示为/dev/ttyUSB* or /dev/ttyACM*
modbus: "None" or "/dev/ttyUSB0"
```bash
# 确保requirements.txt安装依赖
# 安装系统级相关驱动
$ pip install minimalmodbus --break-system-packages
$ pip install pyserial --break-system-packages
$ pip install pymodbus --break-system-packages
# 查看USB-RS485端口号
$ ls /dev
# 可以看到类似ttyUSB0端口后给端口执行权限
$ sudo chmod 777 /dev/ttyUSB0
# GUI控制示例
$ python3 example/gui_control/gui_control.py
```
## 相关文档
[Linker Hand API for Python Document](doc/API-Reference.md)
## 更新说明
- > ### release_3.0.1
- 1、支持O6/L6/L10 RS485通讯 pymodbus模式
- > ### release_2.2.4
- 1、新增支持G20工业版灵巧手
- 2、重绘GUI
- > ### release_2.1.9
- 1、新增支持O6灵巧手
- > ### release_2.1.8
- 1、修复偶发撞帧问题
- > ### 2.1.4
- 1、新增支持L21
- 2、新增支持矩阵式压力传感器
- 3、支持L10 Mujoco仿真
- > ### 1.3.6
- 支持LinkerHand L7/L20/L25版本灵巧手
- > ### 1.1.2
- 支持LinkerHand L10版本灵巧手
- 增加GUI控制L10灵巧手
- 增加GUI显示L10灵巧手压感图形模式数据
- 增加部分示例源码
- position与手指关节对照表
O6: ["大拇指弯曲", "大拇指横摆","食指弯曲", "中指弯曲", "无名指弯曲","小拇指弯曲"]
L6: ["大拇指弯曲", "大拇指横摆","食指弯曲", "中指弯曲", "无名指弯曲","小拇指弯曲"]
L7: ["大拇指弯曲", "大拇指横摆","食指弯曲", "中指弯曲", "无名指弯曲","小拇指弯曲","拇指旋转"]
L10: ["拇指根部", "拇指侧摆","食指根部", "中指根部", "无名指根部","小指根部","食指侧摆","无名指侧摆","小指侧摆","拇指旋转"]
L20: ["拇指根部", "食指根部", "中指根部", "无名指根部","小指根部","拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小指侧摆","拇指横摆","预留","预留","预留","预留","拇指尖部","食指末端","中指末端","无名指末端","小指末端"]
G20(工业版): ["拇指根部", "食指根部", "中指根部", "无名指根部","小指根部","拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小指侧摆","拇指横摆","预留","预留","预留","预留","拇指尖部","食指末端","中指末端","无名指末端","小指末端"]
L21: ["大拇指根部","食指根部","中指根部","无名指根部","小拇指根部","大拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小拇指侧摆","大拇指横滚","预留","预留","预留","预留","大拇指中部","预留","预留","预留","预留","大拇指指尖","食指指尖","中指指尖","无名指指尖","小拇指指尖"]
L25: ["大拇指根部", "食指根部", "中指根部","无名指根部","小拇指根部","大拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小拇指侧摆","大拇指横滚","预留","预留","预留","预留","大拇指中部","食指中部","中指中部","无名指中部","小拇指中部","大拇指指尖","食指指尖","中指指尖","无名指指尖","小拇指指尖"]
## [L10_Example](example/L10)
__在运行之前, 请将 [setting.yaml](LinkerHand/config/setting.yaml) 的配置信息修改为您实际控制的灵巧手配置信息.__
- #### [0000-gui_control](example/gui_control/gui_control.py)
开启后会弹出UI界面。通过滑动条可控制相应LinkerHand灵巧手关节运动
- 增加或修改动作示例。在[constants.py](example/gui_control/config/constants.py)文件中可增加或修改动作。
```python
# 例如增加L6的动作序列
"L6": HandConfig(
joint_names_en=["thumb_cmc_pitch", "thumb_cmc_yaw", "index_mcp_pitch", "middle_mcp_pitch", "pinky_mcp_pitch", "ring_mcp_pitch"],
joint_names=["大拇指弯曲", "大拇指横摆", "食指弯曲", "中指弯曲", "无名指弯曲", "小拇指弯曲"],
init_pos=[250] * 6,
preset_actions={
"张开": [250, 250, 250, 250, 250, 250],
"壹": [0, 31, 255, 0, 0, 0],
"贰": [0, 31, 255, 255, 0, 0],
"叁": [0, 30, 255, 255, 255, 0],
"肆": [0, 30, 255, 255, 255, 255],
"伍": [250, 250, 250, 250, 250, 250],
"OK": [54, 41, 164, 250, 250, 250],
"点赞": [255, 31, 0, 0, 0, 0],
"握拳": [49, 61, 0, 0, 0, 0],
# 增加自定义动作......
}
)
```
- #### [0001-linker_hand_fast](example/L10/gesture/linker_hand_fast.py)
- #### [0002-linker_hand_finger_bend](example/L10/gesture/linker_hand_finger_bend.py)
- #### [0003-linker_hand_fist](example/L10/gesture/linker_hand_fist.py)
- #### [0004-linker_hand_open_palm](example/L10/gesture/linker_hand_open_palm.py)
- #### [0005-linker_hand_opposition](example/L10/gesture/linker_hand_opposition.py)
- #### [0006-linker_hand_sway](example/L10/gesture/linker_hand_sway.py)
- #### [0007-linker_hand_get_force](example/L10/get_status/get_force.py) #python3 get_force.py --hand_joint L10 --hand_type right
- #### [0008-linker_hand_get_speed](example/L10/get_status/get_set_speed.py) #python3 get_set_speed.py --hand_joint L10 --hand_type right --speed 100 123 211 121 222 注:L7 speed参数为7个，其他为5个
- #### [0009-linker_hand_get_state](example/L10/get_status/get_set_state.py) # python3 get_set_state.py --hand_joint L10 --hand_type right --position 100 123 211 121 222 255 255 255 255 255 position参数个数请参照position与手指关节对照表
- #### [0010-linker_hand_dynamic_grasping](example/L10/grab/dynamic_grasping.py)
## API 说明文档
[Linker Hand API for Python Document](doc/API-Reference.md)