Effort and MIT Parameters

The device runs in MIT control mode by default — the control mode isn’t set from the Python API.

effort_limit (SET/GET)

Effort limit: read / write the per-joint torque cap (A).

hand.effort_limit().set(1.5) # set all joints to 1.5 A
limits = hand.effort_limit().get() # → list[Optional[float]]

Writes reject NaN, Inf, negative values, and values above the device ceiling — whole-hand and per-joint writes validate the same way. A rejected write fails with an error and leaves the current value unchanged. The firmware sets the ceiling. For common errors and remedies, see Script Throws an Exception.

mit_params (SET/GET)

MIT impedance parameters: read / write per-joint kp / kd.

hand.mit_params().set((1.0, 0.05)) # same kp / kd for all joints
hand.mit_params().set([(1.0, 0.05)] * 20) # list of 20, per joint
mp = hand.mit_params().get() # → list[Optional[MitParam]]; offline joints are None

Writes reject NaN, Inf, and negative values.

User Origin

Calibrate the current physical position as the joint-side zero. If a joint is moving, it takes effect at the next IDLE.

hand.set_origin() # whole hand: refresh the user origin of all joints
hand.clear_origin() # whole hand: clear the user origin of all joints
hand.set_origin(joints=mask) # optional: 0/1 mask of length 20 — only joints with a 1 are affected

Data Types

MitParam

MIT parameters: element of mit_params().get().

class MitParam:
    kp: float
    kd: float

set accepts a single (kp, kd) (applied to all joints) or a list of 20 (per joint). get returns 20 entries — offline joints are None.

Python
C

Python: See the Python API examples earlier on this page.

The C API matches the Python API on this page and uses the wuji_hand_2_ prefix. For initialization conventions, memory management, error codes, and build setup, see the C API Reference.

MIT Params and Effort Limit (With Online Bitmap)

Whole-hand configuration writes support both a uniform value and per-joint arrays:

// Uniform effort_limit = 1.5 A
wuji_hand_2_set_all_effort_limit(dev, 1.5f);

// Per-joint write (flat-20, finger-major)
float limits[20] = { /* ... */ };
wuji_hand_2_set_all_effort_limit_per_joint(dev, limits);

float kp[20] = { /* ... */ }, kd[20] = { /* ... */ };
wuji_hand_2_set_all_mit_params(dev, kp, kd);

Reads return a flat-20 array plus an online bitmap. Offline joint slots are zero (or NaN for mit_params):

float read_back[20];
uint32_t online = 0;
wuji_hand_2_get_all_effort_limit(dev, read_back, &online);
for (int i = 0; i < 20; i++) {
    if (WUJI_JOINT_ONLINE(online, i)) {
        printf("joint %d: limit=%.2fA\n", i, read_back[i]);
    }
}

Writes reject NaN / infinity / negative values with WUJI_STATUS_ERR_INVALID_ARG. Filter invalid values before writing.

Overview

Hardware

Software

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effort_limit (SET/GET)

mit_params (SET/GET)

User Origin

Data Types

MitParam

MIT Params and Effort Limit (With Online Bitmap)

​effort_limit (SET/GET)

​mit_params (SET/GET)

​User Origin

​Data Types

​MitParam

​MIT Params and Effort Limit (With Online Bitmap)

effort_limit (SET/GET)

mit_params (SET/GET)

User Origin

Data Types

MitParam

MIT Params and Effort Limit (With Online Bitmap)