feathersdk.robot.actuators.rh56dftp_hand.rh56dftp_hand Module

class feathersdk.robot.actuators.rh56dftp_hand.rh56dftp_hand.InspireFingerJoint(motor_id, ip_address, motor_name, force_set_offset, default_max_force)

Bases: object

Represents a single finger joint in the RH56DFTP Inspire hand.

Parameters:

  • motor_id (int)

  • ip_address (str)

  • motor_name (str)

  • force_set_offset (int)

  • default_max_force (int)

__init__(motor_id, ip_address, motor_name, force_set_offset, default_max_force)

Initialize a finger joint.

Parameters:

  • motor_id (int) – The motor ID for this finger joint

  • ip_address (str) – IP address of the hand controller (can include port, e.g., “192.168.11.210:6000”)

  • motor_name (str) – Name of the motor

  • force_set_offset (int) – Offset for force set command (default: 12)

  • default_max_force (int)

move_percentage(percentage)

Move the finger joint. 0% is fully closed, 100% is fully open.

Parameters:

percentage (float) – Percentage of movement (0.0 to 1.0)

set_max_force(force)

Set the max force for the finger joint.

Parameters:

force (int) – Maximum force value

feathersdk.robot.actuators.rh56dftp_hand.rh56dftp_hand.create_finger_joints_from_config(config, hand_side)

Create finger joints from a config dictionary.

Parameters:

  • config (dict) – Configuration dictionary containing hand motor definitions

  • hand_side (str) – “right” or “left” to specify which hand

  • force_set_offset – Offset for force set command (default: 12)

Returns:

Dictionary mapping motor names to InspireFingerJoint objects

Return type:

dict