DDS Message Definitions
Published Message: rt/lowcmd (Desired Body Positions)
| Field | Type | Dimension | Description |
|---|---|---|---|
motor_cmd |
MotorCmd_ |
19 | Desired positions of 19 actuators |
reserve |
unsigned long |
1 | Reserved field |
Subscribed Message: rt/lowstate (Actual Body States)
| Field | Type | Dimension | Description |
|---|---|---|---|
motor_state |
MotorState_ |
19 | Actual positions of 19 actuators |
reserve |
unsigned long |
1 | Reserved field |
Published Message: rt/handcmd (Desired Finger Positions)
| Field | Type | Dimension | Description |
|---|---|---|---|
position |
unsigned long |
12 | Desired hand positions |
reserve |
unsigned long |
1 | Reserved field |
Subscribed Message: rt/handstate (Actual Finger States)
| Field | Type | Dimension | Description |
|---|---|---|---|
position |
unsigned long |
12 | Actual hand positions |
reserve |
unsigned long |
1 | Reserved field |
Single Joint Data Type: MotorCmd_
| Field | Type | Description |
|---|---|---|
mode |
octet |
Mode (0) |
q |
float |
Position |
dq |
float |
Velocity |
tau |
float |
Torque |
kp |
float |
Stiffness |
kd |
float |
Damping |
reserve |
unsigned long |
Reserved field |
Single Joint Data Type: MotorState_
| Field | Type | Description |
|---|---|---|
mode |
octet |
Mode (0) |
q |
float |
Position |
dq |
float |
Velocity |
tau_est |
float |
Estimated torque |
motorstate |
unsigned long |
Current state |
reserve |
unsigned long |
Reserved field |