80 lines
1.8 KiB
Markdown
80 lines
1.8 KiB
Markdown
## Dexterous Hand
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Unitree H1 can be equipped with [Inspire Robotics](https://inspire-robots.com/product/frwz/)'s dexterous hand, which has **six degrees of freedom** and 12 motion joints to mimic the human hand for complex movements.
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##
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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"**.
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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 Message Type
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Motor data in array format, containing 12 motor data for both hands.
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!!!note
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Currently the dexterous hand only supports joint control, i.e. only the parameter q makes sense in the idl format. The others are reserved.
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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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+ Joint Motor Sequence
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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> |