linker-bot · BotRunner64 · May 5, 2026 · May 6, 2026 · May 6, 2026 · May 28, 2026
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,25 @@
+# Python bytecode/cache files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# Python build/package artifacts
+build/
+dist/
+*.egg-info/
+*.egg
+
+# Python tooling caches
+.pytest_cache/
+.mypy_cache/
+.ruff_cache/
+.coverage
+htmlcov/
+
+# Virtual environments
+.venv/
+venv/
+env/
+
+# Local agent/tooling state
+.omx/
diff --git a/LinkerHand/__pycache__/__init__.cpython-310.pyc b/LinkerHand/__pycache__/__init__.cpython-310.pyc
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diff --git a/LinkerHand/utils/__pycache__/open_can.cpython-310.pyc b/LinkerHand/utils/__pycache__/open_can.cpython-310.pyc
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diff --git a/LinkerHand/utils/mapping.py b/LinkerHand/utils/mapping.py
@@ -1,11 +1,11 @@
 #---------------------------------------------------------------------------------------------------
 # L6 L
-l6_l_min = [0, 0, 0, 0, 0, 0]
-l6_l_max = [0.99, 1.39, 1.26, 1.26, 1.26, 1.26]
+l6_l_min = [0, -0.087266, 0, 0, 0, 0]
+l6_l_max = [0.837758, 1.256637, 1.134464, 1.134464, 1.134464, 1.134464]
 l6_l_derict = [-1, -1, -1, -1, -1, -1]
 # L6 R
-l6_r_min = [0, 0, 0, 0, 0, 0]
-l6_r_max = [0.99, 1.39, 1.26, 1.26, 1.26, 1.26]
+l6_r_min = [0, -0.087266, 0, 0, 0, 0]
+l6_r_max = [0.837758, 1.256637, 1.134464, 1.134464, 1.134464, 1.134464]
 l6_r_derict = [-1, -1, -1, -1, -1, -1]
 #---------------------------------------------------------------------------------------------------
 # O6 L

diff --git a/README.md b/README.md
@@ -20,7 +20,7 @@ LinkerHand Python SDK
 
 
 ## Installation
-&ensp;&ensp;You can run the examples after installing the dependencies in requirements.txt. Only Python 3 is supported.
+&ensp;&ensp;You can run the examples after installing the SDK and dependencies from `pyproject.toml`. Only Python 3 is supported.
 - download
 
 ```bash
@@ -31,7 +31,7 @@ $ git clone https://github.com/linker-bot/linkerhand-python-sdk.git
 
 ```bash
 $ cd linkerhand-python-sdk/
-$ pip3 install -r requirements.txt
+$ pip install -e ".[all]"
 ```
 
 - 快速使用示例 by CAN
@@ -50,11 +50,8 @@ $ python3 gui_control.py
 Edit the config/setting.yaml configuration file and modify the parameters according to the comments inside. Set MODBUS: "/dev/ttyUSB0", meaning the "modbus" parameter in the configuration file should be "/dev/ttyUSB0". The USB-RS485 converter usually appears as /dev/ttyUSB* or /dev/ttyACM* on Ubuntu. 
 modbus: "None" or "/dev/ttyUSB0"
 ```bash
-# Ensure requirements.txt dependencies are installed
-# Install system-level related drivers
-$ pip install minimalmodbus --break-system-packages
-$ pip install pyserial --break-system-packages
-$ pip install pymodbus --break-system-packages
+# Ensure the SDK and dependencies are installed from pyproject.toml
+$ pip install -e ".[all]"
 # View the USB-RS485 port number
 $ ls /dev
 # You should see a port similar to ttyUSB0. Grant permissions to the port:
@@ -154,5 +151,3 @@ When launched, a UI interface will pop up. You can control the corresponding Lin
 ## API Documentation
 [Linker Hand API for Python Document](doc/API-Reference.md)
 
-
-
diff --git a/README_CN.md b/README_CN.md
@@ -18,23 +18,20 @@
 | ROS SDK | ![SDK Version](https://img.shields.io/badge/SDK%20Version-V3.0.1-brightgreen?style=flat-square) ![Python 3.8+](https://img.shields.io/badge/Python-3.8%2B-blue?style=flat-square&logo=python&logoColor=white) ![Ubuntu 20.04+](https://img.shields.io/badge/OS-Ubuntu%2020.04%2B-E95420?style=flat-square&logo=ubuntu&logoColor=white) ![ROS Noetic](https://img.shields.io/badge/ROS-Noetic-009624?style=flat-square&logo=ros) | [![GitHub 仓库](https://img.shields.io/badge/GitHub-grey?logo=github&style=flat-square)](https://github.com/linker-bot/linkerhand-ros-sdk) |
 | ROS2 SDK | ![SDK Version](https://img.shields.io/badge/SDK%20Version-V3.0.1-brightgreen?style=flat-square) ![Python 3.11](https://img.shields.io/badge/Python-3.11-3776AB?style=flat-square&logo=python&logoColor=white) ![Ubuntu 24.04](https://img.shields.io/badge/OS-Ubuntu%2024.04-E95420?style=flat-square&logo=ubuntu&logoColor=white) ![ROS 2 Jazzy](https://img.shields.io/badge/ROS%202-Jazzy-00B3E6?style=flat-square&logo=ros) ![Windows 11](https://img.shields.io/badge/OS-Windows%2011-0078D4?style=flat-square&logo=windows&logoColor=white) | [![GitHub 仓库](https://img.shields.io/badge/GitHub-grey?logo=github&style=flat-square)](https://github.com/linker-bot/linkerhand-ros2-sdk) |
 
-## Installation
-&ensp;&ensp;您可以在安装requirements.txt后的情况下运行示例。仅支持 Python3。
+## Installation
+&ensp;&ensp;您可以通过 `pyproject.toml` 安装 SDK 及其依赖后运行示例。仅支持 Python3。
 - download
 
 ```bash
-$ git clone https://github.com/linker-bot/linkerhand-python-sdk.git
-```
-
-- install
-
-```bash
-$ cd linkerhand-python-sdk/
-# win下需要安装python-can-candle用于适配透明CAN设备candle协议
-$ pip install python-can
-$ pip install python-can-candle
-$ pip3 install -r requirements.txt
-```
+$ git clone https://github.com/linker-bot/linkerhand-python-sdk.git
+```
+
+- install
+
+```bash
+$ cd linkerhand-python-sdk/
+$ pip install -e ".[all]"
+```
 
 - 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"
@@ -53,12 +50,9 @@ $ python3 gui_control.py
 
 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
+```bash
+# 确保已通过 pyproject.toml 安装 SDK 及依赖
+$ pip install -e ".[all]"
 # 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

diff --git a/example/gui_control/config/__pycache__/constants.cpython-311.pyc b/example/gui_control/config/__pycache__/constants.cpython-311.pyc
diff --git a/example/gui_control/config/__pycache__/constants.cpython-312.pyc b/example/gui_control/config/__pycache__/constants.cpython-312.pyc
diff --git a/example/gui_control/views/__pycache__/left_view.cpython-312.pyc b/example/gui_control/views/__pycache__/left_view.cpython-312.pyc
diff --git a/example/gui_control/views/__pycache__/left_view.cpython-38.pyc b/example/gui_control/views/__pycache__/left_view.cpython-38.pyc
diff --git a/example/gui_control/views/__pycache__/right_view.cpython-312.pyc b/example/gui_control/views/__pycache__/right_view.cpython-312.pyc
diff --git a/example/gui_control/views/__pycache__/right_view.cpython-38.pyc b/example/gui_control/views/__pycache__/right_view.cpython-38.pyc
diff --git a/example/gui_control/views/__pycache__/wave_form_plot.cpython-312.pyc b/example/gui_control/views/__pycache__/wave_form_plot.cpython-312.pyc
diff --git a/example/gui_control/views/__pycache__/wave_form_plot.cpython-38.pyc b/example/gui_control/views/__pycache__/wave_form_plot.cpython-38.pyc
diff --git a/pyproject.toml b/pyproject.toml
@@ -0,0 +1,51 @@
+[build-system]
+requires = ["setuptools>=61", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "linkerhand-python-sdk"
+version = "3.1.0"
+description = "Python SDK for LinkerHand dexterous hands."
+readme = "README.md"
+requires-python = ">=3.8"
+authors = [
+    { name = "Linker Hand" },
+]
+dependencies = [
+    "python-can",
+    "python-can-candle",
+    "pymodbus==3.5.1",
+    "pyserial",
+    "numpy",
+    "PyYAML",
+]
+
+[project.optional-dependencies]
+all = [
+    "PyQt5",
+    "pyqtgraph",
+    "matplotlib",
+    "dm-control",
+    "dm-env",
+    "pyagxrobots",
+    "pyquaternion",
+    "h5py",
+    "ipython",
+    "mediapipe",
+    "minimalmodbus",
+    "pexpect",
+    "pycryptodome",
+    "tqdm",
+    "uvicorn",
+    "wandb",
+]
+
+[project.urls]
+Homepage = "https://github.com/linker-bot/linkerhand-python-sdk"
+Documentation = "https://github.com/linker-bot/linkerhand-python-sdk/blob/main/doc/API-Reference.md"
+
+[tool.setuptools.packages.find]
+include = ["LinkerHand*"]
+
+[tool.setuptools.package-data]
+"LinkerHand.config" = ["*.yaml"]
diff --git a/requirements.txt b/requirements.txt