SetDesiredForce.srv
Features
This service defines the target force, direction, translation time, and mode for force control based on the global coordinate.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
Fd | float64[6] | [0, 0, 0, 0, 0, 0] | Three translational target forces Three rotational target moments |
dir | int8[6] | [0, 0, 0, 0, 0, 0] | Force control in the corresponding direction if 1 Compliance control in the corresponding direction if 0 |
ref | int8 | 1 | MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
time | float64 | 0.0 | Transition time of target force to take effect [sec] Range: 0 - 1.0 |
mod | int8 | 0 | FORCE_MODE_ABSOLUTE(0): Force control with absolute value FORCE_MODE_RELATIVE(1): force control with relative value to initial state (the instance when this function is called) |
Return
Return Name | Data Type | Default Value | Description |
|---|---|---|---|
success | bool | - | True or False |