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Inspire Hand SDK Usage Guide

Virtual Environment Management

It is recommended to use venv for managing the virtual environment:

python -m venv venv  # or  Unzip venv_x86.tar.xz, and place the.venv in inspire_hand_ws/.venv

# Then execute the script to modify venv:
python update_venv_path.py.venv
python update_bin_files.py.venv 

source venv/bin/activate  # Activate the virtual environment for Linux/MacOS

Installation

1. When configuring the environment yourself, you need to install project dependencies; if you use Unzip venv_x86.tar.xz to set up the environment, you do not need to run the following command:

   pip install -r requirements.txt

2. Initialize and update submodules:

   git submodule init  # Initialize submodules
   git submodule update  # Update submodules to the latest version

3. Install the two SDKs:

   cd unitree_sdk2_python
   pip install -e .
   
   cd ../inspire_hand_sdk
   pip install -e .

Control Modes

The Inspire Hand SDK supports multiple control modes, defined as follows:

• Mode 0: 0000 (No operation)
• Mode 1: 0001 (Angle)
• Mode 2: 0010 (Position)
• Mode 3: 0011 (Angle + Position)
• Mode 4: 0100 (Force control)
• Mode 5: 0101 (Angle + Force control)
• Mode 6: 0110 (Position + Force control)
• Mode 7: 0111 (Angle + Position + Force control)
• Mode 8: 1000 (Velocity)
• Mode 9: 1001 (Angle + Velocity)
• Mode 10: 1010 (Position + Velocity)
• Mode 11: 1011 (Angle + Position + Velocity)
• Mode 12: 1100 (Force control + Velocity)
• Mode 13: 1101 (Angle + Force control + Velocity)
• Mode 14: 1110 (Position + Force control + Velocity)
• Mode 15: 1111 (Angle + Position + Force control + Velocity)

Usage Examples

Below are instructions for using common examples:

1. DDS Control Command Publisher:

   Run the following script to publish control commands:

   python inspire_hand_sdk/example/dds_publish.py

2. DDS Subscriber for Inspire Hand Status and Tactile Sensor Data with Visualization:

   Run the following script to subscribe to the Inspire Hand status and sensor data, and visualize the results:

   python inspire_hand_sdk/example/dds_subscribe.py

3. Inspire Hand DDS Driver (Headless Mode):

   Use the following script for the headless mode driver:

   python inspire_hand_sdk/example/Headless_driver.py

4. Inspire Hand Configuration Panel:

   Run the following script to use the Inspire Hand configuration panel:

   python inspire_hand_sdk/example/init_set_inspire_hand.py

5. Inspire Hand DDS Driver (Panel Mode):

   Use the following script to enter panel mode for the Inspire Hand DDS driver:

   python inspire_hand_sdk/example/Vision_driver.py

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