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Added service to set force mode #21

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1 change: 1 addition & 0 deletions CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@ set(srv_files
srv/SetPayload.srv
srv/SetSpeedSliderFraction.srv
srv/SetIO.srv
srv/SetForceMode.srv
)

if(BUILD_TESTING)
Expand Down
29 changes: 29 additions & 0 deletions srv/SetForceMode.srv
Original file line number Diff line number Diff line change
@@ -0,0 +1,29 @@
# A 6d pose that defines the force frame. Must be static relative to the robot's base frame.
geometry_msgs/PoseStamped task_frame

# 1 means that the robot will be compliant in the corresponding axis of the task frame
bool selection_vector_x
bool selection_vector_y
bool selection_vector_z
bool selection_vector_rx
bool selection_vector_ry
bool selection_vector_rz

# The forces/torques the robot will apply to its environment. For geometric interpretation, please
# see parameter `type`
geometry_msgs/Wrench wrench

# An integer [1;3] specifying how the robot interprets the force frame
# 1: The force frame is transformed in a way such that its y-axis is aligned with a vector pointing
# from the robot tcp towards the origin of the force frame.
# 2: The force frame is not transformed.
# 3: The force frame is transformed in a way such that its x-axis is the projection of the robot tcp
# velocity vector onto the x-y plane of the force frame.
uint8 type

# For compliant axes, these values are the maximum allowed tcp speed along/about the axis.
# For non-compliant axes, these values are the maximum allowed deviation along/about an axis
# between the actual tcp position and the one set by the program.
float32[6] limits
---
bool success