DFX Inspire Hand service
# 1. 📦 Introduction
[Unitree Robot RH56DFX Inspire Hand](https://support.unitree.com/home/en/H1_developer/Dexterous_hand) Controller.
The user sends `unitree_go::msg::dds::MotorCmds_` messages to the `rt/inspire/cmd` topic to control the dexterous hand,
and receives `unitree_go::msg::dds::MotorStates_` messages from the `rt/inspire/state` topic to obtain its status.
```mermaid
graph LR
A(user) --rt/inspire/cmd--> B(H1 or G1)
B --rt/inspire/state--> A
```
The IDL data is an array containing joint-level values for all 12 motors of both hands.
Currently the dexterous hand only supports joint control, i.e. only the parameter `q` makes sense in the idl format. The others are reserved.
| Id |
0 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
| Joint |
Right Hand |
Left Hand |
| pinky |
ring |
middle |
index |
thumb-bend |
thumb-rotation |
pinky |
ring |
middle |
index |
thumb-bend |
thumb-rotation |
# 2. 🚀 Launch
## unitree h1
```bash
sudo apt install libboost-all-dev libspdlog-dev
# Build project
mkdir build & cd build
cmake ..
make -j6
# Terminal 1. Run h1 inspire hand service
sudo ./inspire_h1 -s /dev/ttyUSB0
# Terminal 2. Run example
./hand_example
```
## unitree g1
```bash
sudo apt install libboost-all-dev libspdlog-dev
# Build project
mkdir build & cd build
cmake ..
make -j6
# Terminal 1. Run g1 inspire hand service
# The serial port name is hard-coded; if it doesn’t match your setup, please edit it directly in the source.
sudo ./inspire_g1
# Terminal 2. Run example
./hand_example
```
# FAQ
1. Error when `make -j6`
```bash
...
/usr/bin/ld: inspire_ctrl.cpp:(.text._Z14serialize_intoIN10unitree_go3msg4dds_12MotorStates_EN3org7eclipse10cyclonedds4core3cdr14xcdr_v2_streamEEbPvmRKT_b[_Z14serialize_intoIN10unitree_go3msg4dds_12MotorStates_EN3org7eclipse10cyclonedds4core3cdr14xcdr_v2_streamEEbPvmRKT_b]+0x2be): undefined reference to `org::eclipse::cyclonedds::core::cdr::xcdr_v2_stream::finish_member(org::eclipse::cyclonedds::core::cdr::entity_properties&, bool)'
/usr/bin/ld: inspire_ctrl.cpp:(.text._Z14serialize_intoIN10unitree_go3msg4dds_12MotorStates_EN3org7eclipse10cyclonedds4core3cdr14xcdr_v2_streamEEbPvmRKT_b[_Z14serialize_intoIN10unitree_go3msg4dds_12MotorStates_EN3org7eclipse10cyclonedds4core3cdr14xcdr_v2_streamEEbPvmRKT_b]+0x2d9): undefined reference to `org::eclipse::cyclonedds::core::cdr::xcdr_v2_stream::finish_struct(org::eclipse::cyclonedds::core::cdr::entity_properties&)'
```
please compile and install `unitree_sdk2`:
```bash
cd ~
git clone https://github.com/unitreerobotics/unitree_sdk2
cd unitree_sdk2
mkdir build & cd build
cmake ..
sudo make install
```
2. Error when run `sudo ./inspire_h1 -s /dev/ttyUSB0` or `sudo ./inspire_g1`
```bash
--- Unitree Robotics ---
Inspire Hand Controller
Open serial port /dev/ttyUSB* failed
```
For **Unitree h1**, use the `-s` parameter to change the serial port name.
For **Unitree g1**, modify the serial port name directly in the source code.
