80 lines
1.7 KiB
Markdown
80 lines
1.7 KiB
Markdown
## 灵巧手介绍
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H1可搭载[Inspire Robotics](https://inspire-robots.com/product/frwz/)的仿人五指灵巧手，该灵巧手具有6个自由度和12个运动关节，可以模拟人手实现复杂动作。
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## 接口说明
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**示例程序** [h1_example_hand.cpp]()
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用户向 **"rt/inspire/cmd"** 话题发送 **"unitree_go::msg::dds::MotorCmds_"** 消息控制灵巧手。
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从 **"rt/inspire/state"** 话题接受 **"unitree_go::msg::dds::MotorStates_"** 消息获取灵巧手状态。
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```mermaid
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graph LR
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A(user) --rt/inspire/cmd--> B(H1)
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B --rt/inspire/state--> A
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```
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+ IDL数据格式
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采用数组格式的电机数据，内部包含双手12个电机数据。
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```note
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当前灵巧手只支持关节控制，即在idl格式中只有参数q有意义。其他保留。
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```
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```bash
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# namespace unitree_go::msg::dds_
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# unitree_go::msg::dds_::MotorCmds_
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struct MotorCmds_
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{
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sequence<unitree_go::msg::dds_::MotorCmd_> cmds;
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};
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# unitree_go::msg::dds_::MotorStates_
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struct MotorCmds_
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{
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sequence<unitree_go::msg::dds_::MotorState> states;
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};
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```
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+ IDL中的关节顺序
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<div style="text-align: center;">
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<table border="1">
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<tr>
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<td>Id</td>
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<td>0</td>
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<td>1</td>
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<td>2</td>
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<td>3</td>
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<td>4</td>
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<td>5</td>
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<td>6</td>
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<td>7</td>
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<td>8</td>
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<td>9</td>
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<td>10</td>
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<td>11</td>
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</tr>
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<tr>
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<td rowspan="2">Joint</td>
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<td colspan="6">Right Hand</td>
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<td colspan="6">Left Hand</td>
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</tr>
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<tr>
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<td>pinky</td>
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<td>ring</td>
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<td>middle</td>
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<td>index</td>
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<td>thumb-bend</td>
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<td>thumb-rotation</td>
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<td>pinky</td>
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<td>ring</td>
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<td>middle</td>
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<td>index</td>
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<td>thumb-bend</td>
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<td>thumb-rotation</td>
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</tr>
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</table>
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</div> |