Update README.md

README.md

@@ -272,7 +272,7 @@ LET dataset statistics are as follows:
 | <b>Raw Sensor Data</b>     | <span style="color:#1890FF">/sensors_data_raw</span>                               | <span style="color:#000000">kuavo_msgs/sensorsData</span>          | sensor_time (timestamp),<br>joint_data (joint data: position, velocity, acceleration, current),<br>imu_data (IMU data: gyroscope, accelerometer, quaternion),<br>end_effector_data (end effector data, currently unused)|
 | <b>Dexterous Hand Position (Real Robot)</b> | <span style="color:#1890FF">/control_robot_hand_position</span>                    | <span style="color:#000000">kuavo_msgs/robotHandPosition</span>    | left_hand_position (left hand 6D, 0 open, 100 closed),<br>right_hand_position (right hand 6D, 0 open, 100 closed)|
 | <b>Dexterous Hand State (Real Robot)</b> | <span style="color:#1890FF">/dexhand/state</span>                                  | <span style="color:#000000">sensor_msgs/JointState</span>          | name (12 joint names),<br>position (12 joint positions, first 6 for left hand, last 6 for right hand),<br>velocity (12 joint velocities),<br>effort (12 joint currents)|
-| <b>Gripper Control (Real Robot)</b>   | <span style="color:#1890FF">/control_robot_leju_claw</span>                        | <span style="color:#000000">kuavo_msgs/controlLejuClaw</span>      | name (length 2, left_claw/right_claw),<br>position (length 2, 0 open, 100 closed),<br>velocity (length 2, target velocity, default 50),<br>effort (length 2, target current in A, default 1)|
+| <b>Gripper Control (Real Robot)</b>   | <span style="color:#1890FF">/leju_claw_command</span>                        | <span style="color:#000000">kuavo_msgs/lejuclawcommand</span>      | name (length 2, left_claw/right_claw),<br>position (length 2, 0 open, 100 closed),<br>velocity (length 2, target velocity, default 50),<br>effort (length 2, target current in A, default 1)|
 | <b>Gripper State (Real Robot)</b>   | <span style="color:#1890FF">/leju_claw_state</span>                                | <span style="color:#000000">kuavo_msgs/lejuClawState</span>        | state (int8[2], left/right gripper state, see details below),<br>data (kuavo_msgs/endEffectorData, contains gripper position, velocity, current)|
 | <b>Simulation Gripper Control</b>       | <span style="color:#1890FF">/gripper/command</span>                                | <span style="color:#000000">sensor_msgs/JointState</span>          | header (message header),<br>position (length 2, 0 open, 255 closed)|
 | <b>Simulation Gripper State</b>       | <span style="color:#1890FF">/gripper/state</span>                                  | <span style="color:#000000">sensor_msgs/JointState</span>          | header (message header),<br>position (length 2, 0 open, 0.8 closed)|
@@ -321,7 +321,7 @@ LET dataset statistics are as follows:
   - velocity（float[12]）：12 joint velocities, first 6 for left hand, last 6 for right hand
   - effort（float[12]）：12 joint currents, first 6 for left hand, last 6 for right hand
 
-- <b><span style="color:#000000">/control_robot_leju_claw</span></b>：
+- <b><span style="color:#000000">/leju_claw_command</span></b>：
   - name（string[2]）：left_claw, right_claw
   - position（float[2]）：Left/right gripper target position, [0,100], 0 open, 100 closed
   - velocity（float[2]）：Target velocity, [0,100], default 50