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 — 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, transports, and which API tier to use.
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/mesh variants.
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 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, status polling, and errors.
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 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.
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, and the raw C API.
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 failures.
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, how versions are pinned, and which firmware and app builds ship alongside.
Human Integration
Integrating a person into the stack: worn ProGloves, Quest hand tracking, robot-free demonstration capture, and the path from episodes to a dataset.
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.
ProHand Diagnostic GUI
Connect the hand in the desktop diagnostic app and run the built-in cyclic, abduction, and Kapandji demos.
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.