├── stl ├── s102新.STL ├── 手指3.1.STL ├── 手掌框架新.STL ├── H101加长件.STL ├── 手掌侧壁前新.STL ├── 手掌侧壁后新.STL ├── dip_spacer.STL └── mcp_bracket.STL ├── assets └── gx11_urdf.png ├── readme.md └── LICENSE.md /stl/s102新.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Democratizing-Dexterous/DexterousHandGX11/HEAD/stl/s102新.STL -------------------------------------------------------------------------------- /stl/手指3.1.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Democratizing-Dexterous/DexterousHandGX11/HEAD/stl/手指3.1.STL -------------------------------------------------------------------------------- /stl/手掌框架新.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Democratizing-Dexterous/DexterousHandGX11/HEAD/stl/手掌框架新.STL -------------------------------------------------------------------------------- /stl/H101加长件.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Democratizing-Dexterous/DexterousHandGX11/HEAD/stl/H101加长件.STL -------------------------------------------------------------------------------- /stl/手掌侧壁前新.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Democratizing-Dexterous/DexterousHandGX11/HEAD/stl/手掌侧壁前新.STL -------------------------------------------------------------------------------- /stl/手掌侧壁后新.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Democratizing-Dexterous/DexterousHandGX11/HEAD/stl/手掌侧壁后新.STL -------------------------------------------------------------------------------- /stl/dip_spacer.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Democratizing-Dexterous/DexterousHandGX11/HEAD/stl/dip_spacer.STL -------------------------------------------------------------------------------- /assets/gx11_urdf.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Democratizing-Dexterous/DexterousHandGX11/HEAD/assets/gx11_urdf.png -------------------------------------------------------------------------------- /stl/mcp_bracket.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Democratizing-Dexterous/DexterousHandGX11/HEAD/stl/mcp_bracket.STL -------------------------------------------------------------------------------- /readme.md: -------------------------------------------------------------------------------- 1 | ## Dexterous Hand GX11 2 | 3 | ### 3D Printing 4 | The extra componets for the GX11 are listed in `stl` folder. 5 | 6 | ### Others 7 | * OpenRB-150 motor control board. 8 | * Type-C USB cable 9 | * 11 Dynamixel XL330-M288-T motors. 10 | * 5V 15A DC power. 11 | * Standard components for XL330-M288-T motors, S101, S102, FPX330. 12 | * EH2.54 3pin connectors. 13 | 14 | ### Assembly 15 | Assembly all the motors and components together, like followings (home position): 16 | 17 | 18 | ### Zero Position 19 | 20 | ```python 21 | from libgex.libgx11 import Hand 22 | 23 | hand = Hand(port="/dev/ttyACM0") # COM* for Windows, ttyACM* or ttyUSB* for Linux 24 | hand.connect() 25 | 26 | print(hand.getj()) 27 | # set hand zero, call off() first 28 | hand.off() 29 | hand.set_zero_whole_hand() 30 | print(hand.getj()) 31 | ``` 32 | -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2025 Democratizing Dexterity 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | --------------------------------------------------------------------------------