Documentation
Access comprehensive guides, API references, and technical documentation
What's in the Documentation?
Proception Hand V1.E Specifications
Mechanical, actuation, kinematic, and performance characteristics of the Proception Hand V1.E, reconciled with the published gen1.D models.
Simulation Models Overview
What ships in pro-models release/gen2 — MJCF and URDF assets for the Proception Hand, collision variants, mesh tiers, joints, and licensing.
Simulation Models Overview
What ships in pro-models — MJCF, URDF and USD assets for the Proception Hand 1D, collision variants, mesh tiers, and licensing.
Proception SDK Overview
How the Proception SDK is put together — driver, client libraries, wire protocol, transports, and which API tier to use.
Proception SDK Overview
How the Proception SDK is put together — driver, client libraries, transports, and which API tier to use.
Proception Hand Electro-Mechanical Interface
Mounting, connectors, power, and signal interface for integrating the Proception Hand.
Proception Hand V1 Electro-Mechanical Interface
Mounting, connectors, power, and signal interface for integrating the Proception Hand V1.
MuJoCo Quickstart
Load the Proception Hand MJCF models, compose them into your own scene, add actuators, and choose collision and mesh variants.
MuJoCo Quickstart
Load the Proception Hand MJCF models, compose them into your own scene, add actuators, and choose collision/mesh variants.
SDK Getting Started
Install the driver and client SDK, bring up a device, and run your first program in Python or C++.
SDK Getting Started
Install the driver and client SDK, bring up a device, and run your first program in Python or C++.
Proception Hand LED Indicators
What each status-LED colour and pattern means, from power-on to streaming mode.
Proception Hand LED Indicators
What each ring-LED colour and pattern means, from unpowered to streaming mode.
Isaac Sim (USD)
Load the PhysX-ready Proception Hand USD articulations in Isaac Sim and Isaac Lab — layers, variant sets, and what differs from the MJCF models.
Proception Hand Client API
Complete Python and C++ reference for ProHandClient — control channels, joint ordering, units, typed status frames, health monitoring, motion library, and errors.
Proception Hand Client API
Complete Python and C++ reference for ProHandClient — control channels, joint ordering, units, status polling, and errors.
Proception Hand Range of Motion
Commanded joint limits for every finger, the thumb, and the wrist, including the reachable wrist region.
Sim ↔ Hardware Joint Mapping
Joint names, limits, and the conversion between simulation joint states and Proception Hand SDK command vectors.
Sim ↔ Hardware Joint Mapping
Joint names, limits, and the exact conversion between simulation joint states and ProHand SDK command vectors.
Proception Glove Client API
Python, C++ and Android reference for ProGloveClient — tactile frames, taxel layout, filter configuration, calibration, and IMU.
Proception Glove Client API
Python and C++ reference for ProGloveClient — tactile frames, taxel layout, filtering, calibration, IMU, and OTA.
Proception Glove V1 Specifications
Tactile sensing performance, taxel layout, and measured characteristics of the Proception Glove V1.
ProWristCam Client API
Subscribe to the wrist-camera JPEG stream from Python or C++ — frames, decoding, and drop handling.
ProWristCam Client API
Subscribe to the wrist-camera JPEG stream from Python or C++ — frames, decoding, and drop handling.
Real-Time Control Guide
Streaming handshake, control rates, per-joint torque, velocity caps, thermal safety, and a production-shaped control loop for the Proception Hand.
Real-Time Control Guide
Streaming handshake, control rates, torque policy, wrist profiling, and a production-shaped control loop for the Proception Hand.
C++ Integration Guide
Wire the Proception SDK into a CMake project — targets, includes, linking, runtime loader paths, the C++ wrapper, and the raw C API.
C++ Integration Guide
Wire the Proception SDK into a CMake project — targets, includes, linking, runtime loader paths, and the raw C API.
SDK Demo Programs
Every bundled Python, C++ and Android demo, what it exercises, and the flags worth knowing.
SDK Demo Programs
Every bundled Python and C++ demo, what it exercises, and the flags worth knowing.
SDK Troubleshooting
Result codes, symptom → cause tables, and the diagnostic steps that resolve most SDK bring-up and runtime failures.
SDK Troubleshooting
Result codes, symptom → cause tables, and the diagnostic steps that resolve most SDK bring-up failures.
Probot Operator Manual
How to set up, operate and look after Probot (generation 2.1) with ProHand Gen 2.4 hands.
Proception Hand IPC Protocol
Wire-level Cap'n Proto message catalogue for the Proception Hand driver — sockets, framing, commands, status envelope, units, motion library, and the reference clients.
Proception Hand IPC Protocol
Wire-level Cap'n Proto message catalogue for the Proception Hand driver — commands, status, units.
Proception Glove IPC Protocol
Wire-level Cap'n Proto message catalogue for the Proception Glove driver — tactile, IMU, filter, OTA.
SDK Release History
What changed in each Proception SDK release on this line, how versions are pinned, and which firmware and app builds each release was built against.
SDK Release History
What changed in each Proception SDK release, how versions are pinned, and which firmware and app builds ship alongside.
Safety
Who may operate Probot, and the rules before any motion.
Human Integration
Integrating a person into the stack with worn Proception Gloves: connection, live viewing, and recording glove data.
Robot Integration
Two Proception Hands on one robot — one driver per hand, endpoints per side, local IPC or TCP over the robot LAN, and the power and cabling plan.
Robot Integration
Bimanual Proception Hand topologies: both hands on one host PC, or on a Jetson Orin over the robot LAN, with the shared cabling and port plan.
The system
The parts of Probot and how they connect.
ProHand Diagnostic GUI
Connect the hand in the desktop diagnostic app and run the built-in cyclic, abduction, and Kapandji demos.
Set up and connect
Place the robot, power it and connect your computer.
Power on, power off and restart
Start and stop Probot, standby, and how to wake the robot.
E-stop and safety stops
The E-stop button, the software E-stop, automatic stops and how to recover.
Status lights
What each colour and pattern of the two light strips means.
The hands
The ProHand Gen 2.4 hands, their temperature protection and how to recover a hand.
Care and maintenance
Covers, heat, cables, calibration, cleaning, transport and storage.
Specifications and support
Technical data, the joints, and how to get support.
The dashboard
The robot's web page, tab by tab.
Operating modes and control
Control, the gateway modes, the loop modes, the dead pose and the tracking presets.
The Probot GUI
Install the desktop app, connect, operate and watch the robot.
The Probot SDK
Control Probot from your own program in Python, C++ or Rust.
Software updates
Install a new robot or hand software version from the dashboard.
Troubleshooting
Symptom, possible cause and action.
ProGlove Diagnostic GUI
Learn about proglove diagnostic gui
ProHand Diagnostic GUI (Internal)
A more advanced diagnostic systems
ProHand Studio GUI
Connect both hands, and start using demos and remote controls
Documentation is only available to registered users.