GeezerVison

Open-source SDKs, communication libraries, teleoperation tools, and simulation projects for LinkerBot hands and arms.

Website · SDK directory · 中文

Use the SDK directory to choose a maintained project and check migration guidance for older SDKs. Install and build software from the individual repositories.

• Hands: use the C++ SDK or Python SDK, or the Hand ROS 2 SDK for ROS topics and services.
• Arms: use the Arm Python SDK or Arm ROS 2 SDK.
• Communication: use the C++ transport library or Python transport library for communication independently of device control APIs.
• Simulation: start with linker-sim and its repository documentation.

Check each project's supported models, firmware, adapters, operating systems, and installation instructions before running hardware examples.

• linkerbot-hand-tools — CLI/TUI and Web tools for hand control, telemetry, tactile visualization, and offline simulation.
• linkerhand-telop-ros2 — ROS 2 glove-to-hand motion retargeting.
• linkerbot-teleop-arm — reads a dual-arm input device over SocketCAN, with a C++ core, CLI, and ROS 2 node. This is an input-device reader, not the arm motion-control SDK.

Earlier SDKs are retained for existing applications. Consult the SDK directory and legacy migration guide before changing SDKs. A successor is not necessarily a drop-in replacement; verify model and interface compatibility.

• linker-sim — simulation project.
• linker-sim-isaac — Isaac simulation project.
• linker-sim-viser — visualization project using Viser.
• linker-sim-assets — robot descriptions and assets used by the simulation projects.

Browse all repositories →

Bug reports, documentation improvements, examples, and code contributions are welcome. Start with the project's README and our contribution guide.

• Questions and bugs: use the relevant repository's Issues and support guide.
• Security reports: follow the security policy.
• New projects: use our repository standards and reference layouts.

Please follow our code of conduct.