• See these folders for setup details:
  • Python API

• 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.

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.

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

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

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