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Interface Description

Ret Enum Class​

Defines the Ret enumeration class to represent the results of interface operations.

class Ret:
    SUCCESS = 0  # success
    FAIL = -1    # fail
    TIMEOUT = -2 # timeout

DexHand Interface Class​

init​

Initializes the DexHand dexterous hand device and scans all connected devices.

def init(flg: int = 0) -> Ret:
    pass

Parameters​

flg (int, default 0): Initialization flag, reserved for future expansion.

Return Values​

Ret::SUCCESS:  Ret::FAIL: 

get_ip_list​

Gets the list of IP addresses of connected devices. Each IP address corresponds to one dexterous hand.

def get_ip_list() -> List[str]:
    pass

Return Values​

A list of IP addresses of connected devices (list of strings).

get_name​

Gets the device name.

'''
Device names:
Inspire：       “FSH”  
DexHand-FDH6：  “fdhv1”
DexHand-FDH12： “fdhv2” 
'''
def get_name(ip: str) -> str:
    pass

Parameters​

ip (str):  Target device IP.

Return Values​

Device name (str).

get_type​

Gets the device type.

'''
Device types:
Inspire： “Hand”
FDH6：    “FDH-6L”，“FDH-6R”
FDH12：   “FDH-12L”，“FDH-12R”
'''
def get_type(ip: str) -> str:
    pass

Parameters​

ip (str): Target device IP.

Return Value​

Device type (str).

get_driver_ver​

Gets the driver firmware version.

def get_driver_ver(ip: str) -> str:
    pass

Parameters​

ip (str): Target device IP.

Return Value​

Driver version (str, format: 0.0.0.0).

get_hardware_ver​

Gets the hardware PCB version.

def get_hardware_ver(ip: str) -> str:
    pass

Parameters​

ip (str): Target device IP.

Return Value​

Hardware version (str, format: 0.0.0.0).

set_pos​

Sets the target position of the device. A list of 6/12 degrees of freedom. Write -1 for positions that are not controlled.

6 degrees of freedom correspond to the following positions and ranges:
Index Finger 1: 0-1
Middle Finger 2: 0-1
Ring Finger 3: 0-1
Little Finger 4: 0-1
Thumb 5-6: 0-1

12 degrees of freedom correspond to the following positions and ranges:
Index Finger 1-3：0-1750，0-1780，0-576
Middle Finger 4-5：0-1750，0-1780
Ring Finger 6-7：0-1750， 0-1780
Little Finger 8-9：0-1750， 0-1780
Thumb 10-12：0-1700，0-1700，0-1700

def set_pos(ip: str, pos: List[float]) -> Ret:
    pass

Parameters​

ip (str): Target device IP.
pos (List[float]): Target positions (list of floats).
6 degrees of freedom: Each range is [0-1].
Index Finger 1, Middle Finger 2, Ring Finger 3, Little Finger 4, Thumb 5-6.
12 degrees of freedom: See the definition in the interface documentation.

Return Value​

Ret.SUCCESS:
Ret.FAIL:

get_pos​

Gets the current position of the target device.

def get_pos(ip: str) -> List[float]:
    pass

Parameters​

ip (str): Target device IP.

Return Value​

Current position (list of floats), returns an empty list if communication fails.

reboot​

Restarts the device.

def reboot() -> Ret:
    pass

def reboot(ip: str) -> Ret:
    pass

Parameters​

ip (str, optional): Target device IP, restarts all devices if not specified.

Return Value​

Ret.SUCCESS:
Ret.FAIL:

get_ts_matrix​

Get touch sensor data.

def get_ts_matrix(ip: str) -> List[List[int]]:
    pass

Parameters​

ip (str): Target device IP.

Return Value​

A 6*96 byte data list. Returns an empty list on failure.

get_pvc​

Get position (radians), velocity, and current.

def get_pvc(ip: str) -> List[List[float]]:
    pass

Parameters​

ip (str): Target device IP.

Return Value​

Returns an array of position, velocity, and current. Returns an empty list on failure.

set_pvc​

Sets position (in radians), velocity, and current values for finger joints. The behavior depends on the device model

FDH12 Default Mode: Position control (radians) using P parameter. In PD control mode, uses PVC parameters (Position/Velocity feedforward/Current feedforward).
FDH12 Joint Range Limits (Radians):
Index1-3：0.2～1.69, 0.01～1.43, -0.04～0.26
Middle4-5：0.2～1.69, 0.01～1.43
Ring6-7：0.2～1.69, 0.01～1.43
Little8-9：0.2～1.69, 0.01～1.43
Thumb10-12：-0.02～1.23, 0.14～1.35, 0.2～1.57

FDH6 Default Mode: Position-Velocity control (PV parameters).
FDH6 Joint Range Limits (Radians):
Index1：0.17～1.78
Middle2：0.17～1.78
Ring3：0.17～1.78
Little4：0.17～1.78
Thumb5-6：0.12-1.28, 0.0-1.68

def set_pvc(ip: str, pvc: List[List[float]]) -> Ret:
    pass

Parameters​

ip (str): Target device IP.
pvc (List[List[float]]): Array of position, velocity, and current.

Return Value​

Ret::SUCCESS: Success
Ret::FAIL: Failure

set_pd_params​

Set PD parameters.

def set_pd_params(ip: str, params: List[List[float]]) -> Ret:
    pass

Parameters​

ip (str): Target device IP.
params (List[List[float]]): PD parameters.

Return Value​

Ret::SUCCESS: Success
Ret::FAIL: Failure

set_ctrl_mode​

Set control mode.

def set_ctrl_mode(ip: str, mode: CtrlType) -> Ret:
    pass
ModeSet-pointDescription
Position mode (default)any valid angle inpos_desPosition loop closed;velocity and current are only saturated.
Enter -1 to disable the limit (replaced internally by the maximum allowed value). DO NOT use excessive current—serious hand injury may occur!
PD position modectrl_mode = PD_POSOutput torque =Kp·pos_err + Kd·vel_err + feedforward
where pos_err = pos_des − pos_fbk (rad)
vel_err = vel_des − vel_fbk (rad/s)
feedforward is supplied by the user.

Parameters​

ip (str): Target device IP.
mode (CtrlType): control mode.

Return Value​

Ret::SUCCESS: Success
Ret::FAIL: Failure

get_hand_config​

Get device configuration.

def get_hand_config(ip: str) -> HandCfg_t:
    pass

Parameters​

ip (str): Target device IP.

Return Value​

HandCfg_t: Current configuration.

set_hand_config​

Write configuration.

def set_hand_config(ip: str, config: HandCfg_t) -> Ret:
    pass

Parameters​

ip (str): Target device IP.
config (HandCfg_t): Configuration.

Return Value​

Ret::SUCCESS: Success
Ret::FAIL: Failure

get_errorcode​

Get error code

def get_errorcode(ip: str) -> List(int):
    pass

Parameters​

ip (str): Target device IP.

Return Value​

Error code list

set_controller_config​

Set control parameters

def set_controller_config(ip: str, config: CtrlCfg_t) -> Ret:
    pass

Parameters​

ip (str): Target device IP.
config (CtrlCfg_t): control parameters

Return Value​

Ret::SUCCESS: Success
Ret::FAIL: Failure

get_controller_config​

Get control parameters

def get_controller_config(ip: str) -> CtrlCfg_t:
    pass

Parameters​

ip (str): Target device IP.

Return Value​

CtrlCfg_t：control parameters

HandType Enum Class​

class HandType(Enum):
    FDH_X = 0
    FDH_L = 1
    FDH_R = 2

CtrlType Enum Class​

class CtrlType(Enum):
    NONE = 0
    POS_LOOP = 2
    PD_LOOP = 3
    POS_VEL_CUR_LOOP = 4

HandCfg_t Config Class​

class HandCfg_t:
    def __init__(self):
        self.result = 0
        self.type = HandType.FDH_X
        self.sn = ""
        self.mac = [0,0,0,0,0,0]
        self.ip = ""
        self.gateway = ""
        self.enWriteIntoChip = True

CtrlCfg_t Contrl Config Class​

class CtrlCfg_t:
    def __init__(self):
        self.result = 0
        self.PDKp = [-1]*12
        self.PDKd = [-1]*12
        self.PosKp = [-1]*12
        self.PosKi = [-1]*12
        self.PosKd = [-1]*12
        self.enWriteIntoChip = False

Interface Support List​

interfaceinspirefdh6fdh12
init√√√
get_ip_list√√√
get_name√√√
get_type√√√
get_driver_ver√√√
get_hardware_ver√√√
set_pos√√√
get_pos√√√
reboot()√√
reboot(ip)√√
get_ts_matrix√
get_pvc√√
set_pvc√√
set_pd_params√
set_ctrl_mode√
get_ctrl_mode√
get_hand_config√√
set_hand_config√√
get_errorcode√√
get_controller_config√
set_controller_config√