DDS Interface

The underlying communication provides data exchange between the user PC and the robot.

Subscribe topic rt/lowstate (type: pnd_adam.msg.dds_.LowState_) to get Adam's current body state.
Subscribe topic rt/handstate (type: pnd_adam.msg.dds_.HandState_) to get finger states.
Publish topic rt/lowcmd (type: pnd_adam.msg.dds_.LowCmd_) to control full-body actuators (excluding dexterous hands), battery, etc.
Publish topic rt/handcmd (type: pnd_adam.msg.dds_.Handcmd_) to control finger actuators.

API Description

Use the DDS API methods to subscribe or publish topics. Topic information is stored in structures defined by IDL. Common structures include:

Structure	Description
`_HandCmd_.py`	Dexterous hand control
`_HandState_.py`	Dexterous hand state
`_IMUState_.py`	Adam IMU state
`_LowCmd_.py`	Adam low-level control
`_LowState_.py`	Adam low-level state
`_MotorCmd_.py`	Adam motor command
`_MotorState_.py`	Adam motor state

DDS Message Definitions

Outgoing message: rt/lowcmd (desired body positions)

Field	Type	Dimension	Description
`motor_cmd`	`MotorCmd_`	*	Variable length^[1]
`reserve`	`unsigned long`	1	Reserved

[1] motor_cmd details: Length depends on robot model

Adam Pro: 31 actuator dimensions
Adam Standard: 29 actuator dimensions
Adam Lite: 23 actuator dimensions

Subscribed message: rt/lowstate (actual body state)

Field	Type	Dimension	Description
`imu_state`	`IMUState_`	9	IMU data
`motor_state`	`MotorState_`	*	Variable length^[1]
`wireless_remote`	`short`	40	Fixed length^[2]
`reserve`	`unsigned long`	1	Reserved

[1] motor_state details: Length depends on robot model

Adam Pro: 31 actuator dimensions
Adam Standard: 29 actuator dimensions
Adam Lite: 23 actuator dimensions

[2] wireless_remote details: Index 20–40 unused; 0–19 correspond to controller buttons: "lx", "ly", "rx", "ry", "lt", "rt", "xx", "yy", "a", "b", "x", "y", "lb", "rb", "back", "start", "home", "lo", "ro"

Outgoing message: rt/handcmd (desired finger positions)

Field	Type	Dimension	Description
`position`	`unsigned long`	12	Desired hand positions
`reserve`	`unsigned long`	1	Reserved

Subscribed message: rt/handstate (actual finger positions)

Field	Type	Dimension	Description
`position`	`unsigned long`	12	Actual hand positions
`reserve`	`unsigned long`	1	Reserved

IMU Data Type: IMUState_

Field	Type	Dimension	Description
`quaternion`	`float`	4	Quaternion
`gyroscope`	`float`	3	Angular velocity
`accelerometer`	`float`	3	Acceleration
`ypr`	`float`	3	Yaw-Pitch-Roll
`temperature`	`short`	3	Temperature

Single motor 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

Single motor data type: MotorState_

Field	Type	Description
`mode`	`octet`	Mode (0)
`q`	`float`	Position
`dq`	`float`	Velocity
`ddq`	`float`	Acceleration
`tau_est`	`float`	Estimated torque
`state`	`unsigned long`	Current state
`reserve`	`unsigned long`	Reserved