rosclaw-inspire-rh56-mcp

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ROSClaw MCP Server for Inspire Robots RH56 Series Dexterous Hand using CAN 2.0B protocol.

Part of the ROSClaw Embodied Intelligence Operating System.

Overview

This MCP server enables LLM agents to control the Inspire Robots RH56 dexterous five-finger hand through the Model Context Protocol. It provides direct CAN bus communication for real-time finger control.

LLM Agent  ──MCP──►  rosclaw-inspire-rh56-mcp  ──CAN──►  RH56 Hand

SDK Information

Property	Value
SDK Name	Inspire RH56 Dexterous Hand SDK
SDK Version	V1.09 (User Manual) / V0.0.2 (CAN Protocol)
Protocol	CAN 2.0B (Extended Frame, 29-bit ID)
Baudrate	1 Mbps
Source	Inspire Robots
Documentation	See References below
License	Proprietary (Hardware Purchase)
Generated	2026-04-07

Hardware Specification

Specification	Value
Models	RH56DFX (standard), RH56BFX (tactile), RH56DFX-2R (with wrist)
Fingers	5 (Thumb, Index, Middle, Ring, Little)
Total Joints	11
Thumb Joints	3 DOF
Other Fingers	2 DOF each
Communication	CAN 2.0B, 1 Mbps
Control Modes	Position, Force, Current
Position Range	0-65535 (16-bit)
Force Range	0-4095 (12-bit)
Current Range	0-4095 (12-bit, represents mA)

Finger Configuration

Finger	Joints	Description
Thumb	3	Base rotation, proximal, distal
Index	2	Proximal, distal
Middle	2	Proximal, distal
Ring	2	Proximal, distal
Little	2	Proximal, distal

Position Convention

Value	Typical Meaning
0	Fully closed
65535	Fully open
32768	Middle position

Note: Actual mechanical limits may vary by finger

Features

Category	Tools
Connection	`connect_hand`, `disconnect_hand`
Hand Info	`get_hand_info`, `get_finger_status`, `get_joint_positions`
Sensor Data	`get_sensor_data`, `check_temperature`
Finger Control	`set_finger_position`, `set_finger_force`, `set_finger_current`
Coordinated Control	`set_all_fingers`
Predefined Grasps	`grasp_open`, `grasp_close`, `grasp_pinch`, `grasp_cylindrical`, `grasp_spherical`
Safety	`check_faults`, `clear_faults`, `emergency_stop`, `check_temperature`
Configuration	`set_control_mode`, `set_device_id`, `save_configuration`
SDK Info	`get_sdk_info`

MCP Resources: hand://status, hand://connection, hand://sdk_info, hand://safety_limits

Quick Start

Prerequisites

# Install python-can for CAN bus communication
pip install python-can mcp

# Setup CAN interface (Linux)
sudo ip link set can0 up type can bitrate 1000000

Run MCP Server

# Run MCP server
python src/inspire_rh56_mcp_server.py

# Or with uv
uv venv --python 3.11
source .venv/bin/activate
uv pip install python-can mcp
python src/inspire_rh56_mcp_server.py

Claude Desktop Configuration

Add to claude_desktop_config.json:

{
  "mcpServers": {
    "rosclaw-inspire-rh56": {
      "command": "python",
      "args": ["/path/to/rosclaw-inspire-rh56-mcp/src/inspire_rh56_mcp_server.py"],
      "transportType": "stdio",
      "description": "Inspire RH56 Dexterous Hand via CAN",
      "sdk_version": "V1.09",
      "sdk_source": "http://www.inspire-robots.com/"
    }
  }
}

LLM Usage Examples

Basic Connection and Finger Control

User: Connect to the RH56 hand and move the index finger to half open.

LLM calls:
1. connect_hand("can0", 1)
2. set_finger_position("Index", 32768, speed=200, force=200)

Predefined Grasps

User: Perform a pinch grasp to pick up a small object.

LLM calls:
1. connect_hand("can0", 1)
2. grasp_pinch(speed=150)
3. get_finger_status()  # Verify grasp

Force Control for Delicate Objects

User: Gently grasp a fragile object using force control.

LLM calls:
1. connect_hand("can0", 1)
2. set_control_mode("Force")
3. set_all_fingers({
       "Thumb": 10000,
       "Index": 10000,
       "Middle": 10000,
       "Ring": 10000,
       "Little": 10000
   }, speed=100)
4. set_finger_force("Thumb", 500)    # Low force
5. set_finger_force("Index", 500)

Safety Monitoring

User: Check if the hand is operating safely.

LLM calls:
1. connect_hand("can0", 1)
2. check_temperature()  # Check for overheating
3. check_faults()       # Check for any faults
4. get_sensor_data()    # Full diagnostic

Safety Information

WARNING: This MCP server controls a dexterous robotic hand. Improper use can cause:

Equipment damage
Damage to grasped objects
Mechanical wear

Safety Features

Feature	Description
Position Limits	0-65535 enforced
Force Limits	0-4095 with configurable max
Current Limits	0-4095 with thermal protection
Temperature Monitoring	Automatic warning at 60°C, critical at 80°C
Fault Detection	Overcurrent, overtemperature, position limits
Emergency Stop	Immediate halt of all motion

Safety Levels

Level	Color	Description	Example
CRITICAL	🔴	Immediate danger	Overtemperature >80°C, overcurrent
HIGH	🟠	Potential damage	Temperature >60°C, excessive force
MEDIUM	🟡	Caution needed	High-speed motion, force control active
LOW	🟢	Informational	Normal operation

Emergency Procedures

Immediate Stop: Call emergency_stop() or power off CAN interface
Fault Recovery: Check check_faults(), then clear_faults()
Overheating: Stop operation, allow cooling, check check_temperature()

Error Handling

Error Codes

Code	Name	Severity	Description
-1	CONNECTION_FAILED	🟠 error	CAN interface not available
-2	TIMEOUT	🟠 error	Hand not responding
-3	INVALID_PARAMETER	🟠 error	Invalid finger name or position
-4	SAFETY_VIOLATION	🔴 critical	Position/force/current out of limits
-5	FAULT_ACTIVE	🟠 error	Hand has active fault condition
-6	NOT_INITIALIZED	🟠 error	Not connected to hand

Fault Codes

Code	Description	Action
0x00	No fault	None
0x01	Overcurrent	Reduce load, check for obstruction
0x02	Overtemperature	Allow cooling, reduce duty cycle
0x04	Position limit exceeded	Re-calibrate, check mechanics
0x08	Communication timeout	Check CAN wiring, retry
0x10	Motor fault	Power cycle, check motor
0x20	Sensor fault	Contact manufacturer

Troubleshooting

Issue	Possible Cause	Solution
Connection failed	CAN interface down	`sudo ip link set can0 up`
Connection failed	Wrong device ID	Check dip switches on hand
No response	Incorrect baudrate	Verify 1 Mbps setting
Jerky motion	Insufficient speed	Increase speed parameter
Weak grasp	Force limit too low	Increase force parameter
Overheating	Excessive duty cycle	Add cooling, reduce speed

Hardware Requirements

Inspire Robots RH56 Hand: RH56DFX or RH56BFX
CAN Interface: USB-CAN adapter (e.g., Peak PCAN, Kvaser, or SocketCAN compatible)
Power Supply: 24V DC, 5A minimum
Communication: CAN bus cable with 120Ω termination

Wiring

PC/USB-CAN Adapter          RH56 Hand Controller
     │                              │
     └──────── CAN_H ───────────────┤
     └──────── CAN_L ───────────────┤
     └──────── GND ─────────────────┘

Power Supply (24V DC)
     │
     ├─────── 24V ──────────────── Hand Power
     └─────── GND ────────────────┘

CAN Setup (Linux)

# Load CAN kernel module
sudo modprobe can
sudo modprobe can_raw

# Bring up CAN interface
sudo ip link set can0 up type can bitrate 1000000

# Verify
ip -details link show can0

# View CAN traffic (for debugging)
candump can0

CAN Protocol Specification

Frame Format

Protocol: CAN 2.0B Extended Frame
ID Length: 29 bits
Baudrate: 1 Mbps
Data Length: 0-8 bytes

CAN ID Structure

Bit 28-21: Command Type (8 bits)
Bit 20-14: Reserved (7 bits, set to 0)
Bit 13-7:  Target Device ID (7 bits, 1-127)
Bit 6-0:   Source Device ID (7 bits, 0=master)

Command IDs

Command	ID	Description
HAND_INFO	0x50	Query hand information
HAND_CONTROL	0x51	Control all fingers
FINGER_CONTROL	0x52	Control single finger
STATUS_QUERY	0x53	Query status
PARAM_SET	0x54	Set parameter
PARAM_GET	0x55	Get parameter
FAULT_CLEAR	0x56	Clear faults
EMERGENCY_STOP	0x57	Emergency stop
DEVICE_ID_SET	0x58	Set device ID
SAVE_CONFIG	0x59	Save configuration

Response IDs

Responses use command ID + 0x80:

HAND_INFO (0x50) → Response ID 0xD0
STATUS_QUERY (0x53) → Response ID 0xD3

References

Official Documentation

因时机器人仿人五指灵巧手--RH56用户手册V1.09cn_.pdf
- Complete user manual
- Mechanical specifications
- Installation guide
因时机器人仿人五指灵巧手--CAN增补协议V0.0.2cn.pdf
- CAN protocol specification
- Message formats
- Command reference
因时机器人仿人五指灵巧手使用说明V0.0.2cn.pdf
- Operating instructions
- Safety guidelines
- Maintenance procedures
因时机器人仿人五指灵巧手--上位机操作说明V0.0.1cn.pdf
- Host software operation
- Configuration tools
因时机器人仿人五指灵巧手--双自由度手腕用户手册V0.0.2cn.pdf
- Wrist module documentation (for RH56DFX-2R)
因时机器人灵巧手--触觉手用户手册V1.0.0cn.pdf
- Tactile sensor version (RH56BFX)

External Links

Architecture

inspire_rh56_mcp_server.py
├── SDK_METADATA      — SDK version and source info
├── RH56CANBridge     — CAN communication bridge
│   ├── _build_can_id()      — CAN ID construction
│   ├── connect()            — CAN interface setup
│   ├── set_finger_position() — Position control
│   ├── set_finger_force()    — Force control
│   └── check_faults()       — Safety monitoring
└── MCP Tools         — FastMCP tool definitions

File Structure

rosclaw-inspire-rh56-mcp/
├── src/
│   ├── inspire_rh56_mcp_server.py   # MCP server (~400 lines)
│   └── inspire_rh56_bridge.py       # CAN bridge (~350 lines)
├── tests/
│   └── test_inspire_rh56_bridge.py  # Unit tests
├── config/
│   └── mcp_config.json              # MCP client configuration
├── pyproject.toml
├── README.md
└── LICENSE

Dependencies

Python 3.10+
mcp[fastmcp] — MCP server framework
python-can — CAN bus communication
pyserial — For serial-CAN adapters

License

MIT License — See LICENSE

The underlying RH56 hardware and protocol are proprietary to Inspire Robots.

Part of ROSClaw

rosclaw — Core framework (see arXiv paper)
rosclaw-g1-dds-mcp — Unitree G1 humanoid
rosclaw-ur-ros2-mcp — UR5 via ROS2
rosclaw-ur-rtde-mcp — UR via RTDE
rosclaw-gimbal-mcp — GCU gimbal
rosclaw-inspire-rh56-mcp — Inspire RH56 hand (this repo)

Generated by ROSClaw SDK-to-MCP Transformer

SDK Version: RH56 V1.09 | Protocol: CAN 2.0B | Baudrate: 1 Mbps

Name		Name	Last commit message	Last commit date
Latest commit History 5 Commits
.claude-flow/data		.claude-flow/data
config		config
docs		docs
src		src
tests		tests
.gitignore		.gitignore
CLAUDE.md		CLAUDE.md
LICENSE		LICENSE
README.md		README.md
README.zh.md		README.zh.md
pyproject.toml		pyproject.toml

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