DDS Interface

The underlying communication provides data interaction between the client PC and the robot.

• Subscribe to topic rt/lowstate (Type: pnd_adam.msg.dds_.LowState_) to get the current state of Adam.
• Subscribe to topic rt/handstate (Type: pnd_adam.msg.dds_.HandState_) to get the current state of the fingers.
• Publish to topic rt/lowcmd (Type: pnd_adam.msg.dds_.LowCmd_) to control whole-body joint motors (excluding dexterous hands), batteries, and other equipment.
• Publish to topic rt/handcmd (Type: pnd_adam.msg.dds_.Handcmd_) to control finger joint motors.

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Interface Description

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

Structure Name	Description
_BatteryData_.py	Battery status (voltage, current, power, etc.)
_HandCmd_.py	Dexterous hand desired position control
_HandState_.py	Dexterous hand actual status feedback
_IMUState_.py	Adam IMU attitude and acceleration data
_LowCmd_.py	Adam low-level whole-body control commands
_LowState_.py	Adam low-level whole-body status summary
_MotorCmd_.py	Single motor control parameters (position, velocity, torque, and gains)
_MotorState_.py	Single motor status feedback

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DDS Message Definitions

Published Message: rt/lowcmd (Desired Body Position)

Field	Type	Dimension	Meaning
mode_pr	uint8	1	Mode control
motor_cmd	MotorCmd_	*	Variable length[1]
reserve	uint32	1	Reserved field

[1] motor_cmd description: The length depends on the robot model:

• Adam Pro: 31-dimensional actuator data
• Adam SP: 29-dimensional actuator data
• Adam Lite: 23-dimensional actuator data

Subscribed Message: rt/lowstate (Actual Body State)

Field	Type	Dimension	Meaning
mode_pr	uint8	1	Current mode state
tick	uint32	1	System timestamp/ticks
imu_state	IMUState_	9	IMU attitude data
motor_state	MotorState_	*	Variable length[1]
wireless_remote	short	40	Wireless controller data[2]
battery_data	BatteryData_	1	Battery level and status information
reserve	uint32	1	Reserved field

[1] motor_state description: The length depends on the robot model:

• Adam Pro: 31-dimensional actuator data
• Adam SP: 29-dimensional actuator data
• Adam Lite: 23-dimensional actuator data

[2] wireless_remote description: Indices 20-40 are empty. 0-19 correspond to the controller buttons: "lx", "ly", "rx", "ry", "lt", "rt", "xx", "yy", "a", "b", "x", "y", "lb", "rb", "back", "start", "home", "lo", "ro".

Auxiliary Structure Definitions

Battery Status Type: BatteryData_

Field	Type	Meaning
timestamp_ms	int64	Millisecond timestamp
voltage	float32	Voltage (V)
current	float32	Current (A)
power	float32	Power (W)
wh_accumulated	float32	Accumulated power consumption (Wh)
status	string	Battery status description

IMU Data Type: IMUState_

Field	Type	Dimension	Meaning
quaternion	float32	4	Quaternion [w, x, y, z]
gyroscope	float32	3	Angular velocity [x, y, z]
accelerometer	float32	3	Acceleration [x, y, z]
ypr	float32	3	Attitude angles [yaw, pitch, roll]
temperature	int16	1	Sensor temperature

Single Joint Control Type: MotorCmd_

Field	Type	Meaning
mode	uint8	Mode (default is 0)
q	float32	Desired position (rad)
dq	float32	Desired velocity (rad/s)
tau	float32	Desired torque (Nm)
kp	float32	Proportional gain (Stiffness)
kd	float32	Derivative gain (Damping)
ki	float32	Integral gain
reserve	uint32	Reserved field

Single Joint State Type: MotorState_

Field	Type	Meaning
mode	uint8	Current mode
q	float32	Actual position (rad)
dq	float32	Actual velocity (rad/s)
ddq	float32	Actual acceleration (\(\text{rad/s}^2\))
tau_est	float32	Estimated torque (Nm)
state	uint32	Motor operation status code
reserve	uint32	Reserved field

Dexterous Hand Interface

Published Message: rt/handcmd (Desired Finger Position)

Field	Type	Dimension	Meaning
position	uint32	12	Desired hand position
reserve	uint32	1	Reserved field

Subscribed Message: rt/handstate (Actual Finger State)

Field	Type	Dimension	Meaning
position	uint32	12	Actual hand position
reserve	uint32	1	Reserved field