# inspire_hand_ws

**Repository Path**: findme404/inspire_hand_ws

## Basic Information

- **Project Name**: inspire_hand_ws
- **Description**: copyby https://github.com/NaCl-1374/inspire_hand_ws
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-03-18
- **Last Updated**: 2026-03-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README


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# Inspire Hand SDK Usage Guide

## Virtual Environment Management

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

```bash
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:

    ```bash
    pip install -r requirements.txt
    ```

2. Initialize and update submodules:

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

3. Install the two SDKs:

    ```bash
    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:
    ```bash
    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:
    ```bash
    python inspire_hand_sdk/example/dds_subscribe.py
    ```

3. **Inspire Hand DDS Driver (Headless Mode)**:

    Use the following script for the headless mode driver:
    ```bash
    python inspire_hand_sdk/example/Headless_driver.py
    ```

4. **Inspire Hand Configuration Panel**:

    Run the following script to use the Inspire Hand configuration panel:
    ```bash
    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:
    ```bash
    python inspire_hand_sdk/example/Vision_driver.py
    ```

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