From 45f2948878fa4aa2a818d96c1bb9f0ce48186f74 Mon Sep 17 00:00:00 2001
From: Yichen Liu <yichen.liu@hotmail.com>
Date: Wed, 18 Mar 2026 22:59:10 -0400
Subject: [PATCH] Define hand data ROS message for VR

---
 .../wato_msgs/common_msgs/msg/VRFingerFeatures.msg   | 10 ++++++++++
 autonomy/wato_msgs/common_msgs/msg/VRHandState.msg   |  5 +++++
 .../wato_msgs/common_msgs/msg/VRTwoHandState.msg     | 12 ++++++++++++
 3 files changed, 27 insertions(+)
 create mode 100644 autonomy/wato_msgs/common_msgs/msg/VRFingerFeatures.msg
 create mode 100644 autonomy/wato_msgs/common_msgs/msg/VRHandState.msg
 create mode 100644 autonomy/wato_msgs/common_msgs/msg/VRTwoHandState.msg

diff --git a/autonomy/wato_msgs/common_msgs/msg/VRFingerFeatures.msg b/autonomy/wato_msgs/common_msgs/msg/VRFingerFeatures.msg
new file mode 100644
index 0000000..a2c8eb9
--- /dev/null
+++ b/autonomy/wato_msgs/common_msgs/msg/VRFingerFeatures.msg
@@ -0,0 +1,10 @@
+float32 curl
+
+# Not used by thumb
+float32 flexion
+
+# Not used by pinky       
+float32 abduction 
+
+# Not used by thumb     
+float32 opposition    
\ No newline at end of file
diff --git a/autonomy/wato_msgs/common_msgs/msg/VRHandState.msg b/autonomy/wato_msgs/common_msgs/msg/VRHandState.msg
new file mode 100644
index 0000000..2bd7ba0
--- /dev/null
+++ b/autonomy/wato_msgs/common_msgs/msg/VRHandState.msg
@@ -0,0 +1,5 @@
+sample_msgs/FingerFeatures thumb
+sample_msgs/FingerFeatures index
+sample_msgs/FingerFeatures middle
+sample_msgs/FingerFeatures ring
+sample_msgs/FingerFeatures pinky   
\ No newline at end of file
diff --git a/autonomy/wato_msgs/common_msgs/msg/VRTwoHandState.msg b/autonomy/wato_msgs/common_msgs/msg/VRTwoHandState.msg
new file mode 100644
index 0000000..1bd776d
--- /dev/null
+++ b/autonomy/wato_msgs/common_msgs/msg/VRTwoHandState.msg
@@ -0,0 +1,12 @@
+std_msgs/Header header
+
+smple_msgs/VRHandState left
+sample_msgs/VRHandState right
+
+# right hand position - left hand position
+geometry_msgs/msg/Vector3 position_diff
+float32 distance
+
+# sin/cos of right hand rotation - left hand rotation
+geometry_msgs/Vector3 rotation_diff_sin 
+geometry_msgs/Vector3 rotation_diff_cosa
\ No newline at end of file