DFX_inspire_service/doc/Inspire-Hand.md

Dexterous Hand

Unitree H1 can be equipped with Inspire Robotics's dexterous hand, which has six degrees of freedom and 12 motion joints to mimic the human hand for complex movements.

The user can control the hand by publish the "unitree_go::msg::dds::MotorCmds_" message to the topic "rt/inspire/cmd", and get the hand state by subscribe the "unitree_go::msg::dds::MotorStates_" message from the topic "rt/inspire/state".

graph LR
A(user) --rt/inspire/cmd--> B(H1)
B --rt/inspire/state--> A

• IDL Message Type

Motor data in array format, containing 12 motor data for both hands.

!!!note Currently the dexterous hand only supports joint control, i.e. only the parameter q makes sense in the idl format. The others are reserved. !!!

# namespace unitree_go::msg::dds_

# unitree_go::msg::dds_::MotorCmds_
struct MotorCmds_ 
{
    sequence<unitree_go::msg::dds_::MotorCmd_> cmds;
};

# unitree_go::msg::dds_::MotorStates_
struct MotorCmds_ 
{
    sequence<unitree_go::msg::dds_::MotorState> states;
};

• Joint Motor Sequence

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