DAS Finger Controller Manual
简体中文 | English
1. Important Safety Information
1.1 Safety Instructions
Before first use, read this chapter thoroughly and follow all safety guidelines.
For assistance: support@genrobot.ai.
1.1.1 Warning Sign Meaning
- ⚠️ Danger: May cause serious injury, death, or major property damage.
- ⚠️ Warning: May cause personal injury or equipment damage.
- ⚠️ Attention: May result in device malfunction or data loss.
- 💡 Tip: Helpful suggestions for better operation.
1.2 Liability & Restrictions
- Do not modify or alter the device.
- GENROBOT.AI is not responsible for issues caused by misuse, unauthorized changes, or operational errors.
- Using this device means you agree to all safety terms and assume full responsibility for its operation.
- The product is not intended for users under 18 years old.
1.3 Integrator & User Responsibilities
- Conduct a complete threat and risk assessment before deployment.
- Implement proper security protections based on assessment results.
- Ensure all hardware and software are installed and configured correctly.
- Do not disable or change safety measures without authorization.
- Comply with relevant laws, standards, and industry regulations.
1.4 Environmental Requirements
1.4.1 Operating Conditions
- Operating temperature: 0°C–40°C
- Storage temperature: -20°C–60°C
- Humidity: 10–90% (non-condensing)
- Protection rating: IP52
1.4.2 Environmental Precautions
- Avoid strong magnetic fields and prolonged direct sunlight.
- Keep away from heat sources and corrosive environments.
- Operate in a clean, dry, and well-ventilated area.
1.5 Operational Safety
1.5.1 Pre-operation Checks
- Ensure the device has no visible damage.
- Verify all cables are intact.
- Confirm all included items are complete.
1.5.2 Operating Guidelines
- Always operate within line of sight.
- Keep all body parts away from the device’s moving range.
1.5.3 Exception Handling
- Stop operation immediately if abnormalities occur.
- Do not disassemble or repair without authorization.
- Contact technical support for assistance.
2. Product Overview
2.1 Product Introduction and Assembly
The DAS Finger Controller is a homogeneous controller for the DAS Finger. After users collect data and complete training with the DAS Finger, they can deploy models with the DAS Finger Controller.
Package List
| Item | Quantity |
|---|---|
| DAS Finger Controller | × 1 |
| Replaceable gripper heads | × 2 |
| Type-C data cable | × 1 |
| Power cable | × 1 |
| L-shaped hex key | × 1 |
| M3 bolts | Several |
2.1.1 Structural Assembly
Gripper Assembly
Gripper assembly diagram
| Gripper Type | Use Case |
|---|---|
| Universal gripper | Suitable for most grasping tasks |
| Tactile gripper | Suitable for tasks requiring precise force control |
Flange Assembly
The end of the DAS Finger Controller provides a standard mounting interface, and the side includes three M3 threaded mounting holes. For detailed hole positions and interface parameters, refer to the corresponding mechanical drawing. When integrating with a third-party robotic arm or other operating equipment, use an adapter flange for mechanical connection. The adapter flange should be designed according to the target device interface, mounting hole pattern, and dimensional parameters, and the connection must be reliable.
When using the DAS Finger Controller with a third-party robotic arm, install an adapter flange:
| Step | Operation |
|---|---|
| 1 | Install the flange onto the robotic arm end |
| 2 | Fix the DAS Finger Controller to the flange with three M3 screws |
Flange installation diagram
Dimension Parameters
Finger Controller V1
2.1.2 Electrical Connection
| Interface | Specification |
|---|---|
| Power | XT30 2+2 interface, 24V, XT30(PB) connector type |
| Communication and control | Unified Type-C interface |
Insert an XT30 series female connector into the DAS Finger Controller XT30 2+2 interface and connect it to a 24V power supply.
2.1.3 Communication Connection
| Step | Description |
|---|---|
| 1 | Connect the Type-C cable to the Controller and connect the USB end to the PC |
| 2 | Prepare a computer and connect it to the data acquisition unit (Pika Sense) |
| Configuration | Requirement |
|---|---|
| Operating system | Linux |
2.2 SDK Usage Instructions
SDK Repositories and Computer Environment Requirements
General requirement: All SDKs require a USB 3.0 interface to connect to the Controller. For dependency installation, refer to each repository's
requirements.txtor README.
| SDK | Repository | Operating System | Runtime Environment |
|---|---|---|---|
| ROS2 SDK | gen_finger_con_ros2_sdk_release | Ubuntu 24.04 (recommended) | ROS 2 Jazzy, Python 3.10+ |
| C++ SDK | gen_finger_con_cplus_sdk_release | Ubuntu 20.04 (recommended) | C++17, CMake 3.16+ |
| Python SDK | gen_finger_con_python_sdk_release | Ubuntu 20.04 (recommended) | Python 3.8+, no ROS dependency |
| ROS1 SDK | gen_finger_con_ros1_sdk_release | Ubuntu 20.04 (recommended) | ROS 1 Noetic, Python 3.8+ |
2.2.1 Finger Connection Configuration
Refer to each SDK repository README to complete USB interface configuration and driver startup. Each Finger Controller requires 1 serial port and 1 camera.
2.2.2 Camera SDK Instructions
Camera Node Function
The camera node captures image data from 1 camera and publishes it to the corresponding ROS Topics, providing visual input for the Finger Controller system.
Resolution Configuration
The system tries to configure resolutions in priority order and supports the following resolutions:
| Resolution | Description | Typical Use |
|---|---|---|
| 1600×1296 | High resolution (default) | Fine manipulation and image processing |
| 640×480 | Standard resolution | Real-time preview and low-compute scenarios |
2.2.3 Finger SDK Instructions
The DAS Finger Controller provides Finger control, camera image, tactile sensor data, and encoder feedback interfaces through the ROS SDK. The following sections describe communication features and Topics. For camera Topics, see 2.2.2 Camera SDK Instructions.
Core Features
| Item | Description |
|---|---|
| Communication method | Bidirectional serial communication based on the custom DAS protocol |
| Data update frequency | Encoder and tactile sensors run at 30 Hz |
| Control precision | Millimeter-level distance control for fine manipulation |
| Operation modes | Supports single-finger and dual-finger modes |
| Safety protection | Supports emergency stop, motor disable, and other safety operations |
| Distance range | Target opening/closing distance [0.0, 0.2] m (about 0-200 mm) |
Topic List
Single-Finger Mode - Published Topics:
| Topic Name | Message Type | Update Frequency | Description |
|---|---|---|---|
/camera/color/image_raw | sensor_msgs/Image | 30 Hz | Finger camera image |
/encoder | std_msgs/Float32 | 30 Hz | Finger opening/closing distance feedback (unit: m) |
/tactile/left | std_msgs/Int8MultiArray | 30 Hz | Left tactile sensor data |
/tactile/right | std_msgs/Int8MultiArray | 30 Hz | Right tactile sensor data |
Dual-Finger Mode - Published Topics:
All dual-finger mode Topics use /left_finger or /right_finger as the namespace prefix.
| Topic Name | Message Type | Update Frequency | Description |
|---|---|---|---|
/left_finger/camera/color/image_raw | sensor_msgs/Image | 30 Hz | Left Finger camera image |
/left_finger/encoder | std_msgs/Float32 | 30 Hz | Left Finger opening/closing distance feedback (unit: m) |
/left_finger/tactile/left | std_msgs/Int8MultiArray | 30 Hz | Left Finger left tactile sensor data |
/left_finger/tactile/right | std_msgs/Int8MultiArray | 30 Hz | Left Finger right tactile sensor data |
/right_finger/camera/color/image_raw | sensor_msgs/Image | 30 Hz | Right Finger camera image |
/right_finger/encoder | std_msgs/Float32 | 30 Hz | Right Finger opening/closing distance feedback (unit: m) |
/right_finger/tactile/left | std_msgs/Int8MultiArray | 30 Hz | Right Finger left tactile sensor data |
/right_finger/tactile/right | std_msgs/Int8MultiArray | 30 Hz | Right Finger right tactile sensor data |
Subscribed Topics (Control Commands):
| Topic Name | Message Type | Description |
|---|---|---|
/target_distance | std_msgs/Float32 | Single-Finger target opening/closing distance, range [0.0, 0.2] m |
/left_finger/target_distance | std_msgs/Float32 | Left Finger target opening/closing distance, range [0.0, 0.2] m |
/right_finger/target_distance | std_msgs/Float32 | Right Finger target opening/closing distance, range [0.0, 0.2] m |
Launch Parameters:
| Parameter | Default | Description |
|---|---|---|
serial | /dev/ttyFingerLeft | Serial port (single-finger launch) |
video_device | /dev/finger_camera_left | Camera device (single-finger launch) |
left_serial | /dev/ttyFingerLeft | Left Finger serial port |
right_serial | /dev/ttyFingerRight | Right Finger serial port |
left_video_device | /dev/finger_camera_left | Left Finger camera |
right_video_device | /dev/finger_camera_right | Right Finger camera |
camera_resolutions | 1600x1296 | Camera resolution |
show_preview | true | Whether to show the OpenCV preview window |
fps | 60 | Camera parameter value; when set to 60, image output is 30 Hz |