# dexrobot_ecosystem

**Repository Path**: dexrobot/dexrobot_ecosystem

## Basic Information

- **Project Name**: dexrobot_ecosystem
- **Description**: Open-source utilities for DexRobot
- **Primary Language**: Python
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-12-17
- **Last Updated**: 2025-07-08

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# DexRobot Python SDK

A comprehensive software development kit for robotic hand control, simulation, and manipulation. This project provides a complete stack for working with dexterous robotic hands, from low-level hardware control to high-level simulation and planning.

## Getting Started

1. Make sure you have Git LFS installed:

```bash
sudo apt install git-lfs      # For Ubuntu, for example
git lfs install
```

2. Clone the repository:

```bash
git clone --recursive https://gitee.com/DexRobot/dexrobot_python_sdk.git
```

Make sure you have the `--recursive` flag turned on, so that all the submodules can be loaded. Alternatively, you can clone the submodules you need individually.

## Project Components

### 1. pyzlg_dexhand

Low-level hardware interface and control library for the DexHand robotic system.

- Hardware communication via USB-CAN interface
- Protocol implementation for hand control
- ROS integration examples
- Visualization tools
- Comprehensive testing suite

### 2. dexrobot_kinematics

Kinematics library for robotic hand systems.

- Forward and inverse kinematics for hand configurations
- Support for both left and right hand variants
- Utilities for transformation and visualization
- Type-safe implementation with comprehensive testing

### 3. dexrobot_isaac

Isaac Sim integration and simulation environment.

- Complex scene creation and simulation
- Integration with OpenAI Gym-style environments
- Support for various manipulation tasks
- Reinforcement learning infrastructure
- Pre-built assets and environments:
  - Robotic hand models
  - Furniture and object models
  - Scene compositions
  - Training configurations

### 4. dexrobot_urdf

URDF (Unified Robot Description Format) models and utilities.

- Complete URDF descriptions for DexHand
- Mesh files for visualization and collision
- Utilities for URDF manipulation and analysis
- Both detailed and simplified hand models
- CAD exports in STEP format

### 5. dexrobot_mujoco

MuJoCo simulation environment and utilities.

- MuJoCo XML models for the DexHand
- Scene creation tools
- Real-time visualization
- Physics-based simulation
- Integration with ROS
- Rich set of demo environments and furniture models

### 6. ros_compat

ROS compatibility layer for platform-independent development.

- Abstract interface for ROS functionality
- Logging utilities
- Time handling
- Node implementation

## Installation

Please refer to the guides in the individual submodules.

## Dependencies

- Python 3.6+
- ROS (optional, for ROS integration)
- MuJoCo (for physics simulation)
- Isaac Sim (for advanced simulation)
- USB-CAN adapter (for hardware control)

## Documentation

Please refer to the [online documentation](https://dexrobot.github.io/dexrobot_python_sdk/).

## License

The project is licensed under the Apache License, Version 2.0.

## Project Structure

```
dexrobot_python_sdk/
├── pyzlg_dexhand/      # Hardware interface
├── dexrobot_kinematics/ # Kinematics library
├── dexrobot_isaac/     # Isaac Sim integration
├── dexrobot_urdf/      # Robot description files
├── dexrobot_mujoco/    # MuJoCo simulation
└── ros_compat/         # ROS compatibility layer
```

## Contributing

Please refer to individual component READMEs for specific contribution guidelines.

## Support

For issues and support:

- Hardware issues: Check pyzlg_dexhand documentation
- Simulation issues: Refer to dexrobot_isaac or dexrobot_mujoco
- Kinematics questions: See dexrobot_kinematics documentation