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Version: 3.4.x

HTTP

By default, the HTTP service starts on: http://localhost:10000. Note: the port can be changed in the service's configuration.

Version​

Method: GET

URL: http://localhost:10000/version

Response example:

{
  "build_time": "2024-08-07T16:01:53Z",
  "git_branch": "main",
  "git_describe": "3.0.0-2-gce34c39e",
  "git_hash": "ce34c39e",
  "git_tag": "3.0.0",
  "project_name": "haply-inverse-service",
  "project_version": "3.0.0.0"
}

Devices​

Method: GET

URL: http://localhost:10000/devices

Response example:

{
  "inverse3": [
    {
      "device_id": "04BA",
      "config": {
        "type": "inverse3",
        "device_info": {
          "minor_version": 1,
          "major_version": 7,
          "id": "04BA",
          "device_type": 4,
          "uuid": "2D35F80DD9005F599B68F49944CB04BA"
        },
        "port": "COM13",
        "extended_device_id": "2D35F80DD9005F599B68F49944CB04BA",
        "extended_firmware_version": "8C20FDC8010AA1E15AA133CDA2534874",
        "gravity_compensation": {
          "enabled": true,
          "scaling_factor": 1
        },
        "handedness": "right",
        "torque_scaling": {
          "enabled": true
        }
      },
      "state": {
        "angular_position": {
          "a0": -69.31704,
          "a1": 137.62952,
          "a2": 19.832787
        },
        "angular_velocity": {
          "a0": 0,
          "a1": 0,
          "a2": 0
        },
        "body_orientation": {
          "x": -0.01940918,
          "y": 0.7026367,
          "z": 0.00048828125,
          "w": 0.7113037
        },
        "cursor_position": {
          "x": 0.07842738,
          "y": -0.14836666,
          "z": 0.14297646
        },
        "cursor_velocity": {
          "x": -0.011969013,
          "y": 0.0012009288,
          "z": -0.043197
        },
        "mode": "idle"
      },
      "status": {
        "calibrated": false,
        "in_use": false,
        "power_supply": true,
        "ready": true,
        "started": true
      }
    }
  ],
  "verse_grip": [
    {
      "device_id": "61548",
      "config": {
        "port": "COM3",
        "type": "verse_grip"
      },
      "state": {
        "button": false,
        "hall": 0,
        "orientation": {
          "x": -0.5019531,
          "y": 0.8632202,
          "z": -0.048095703,
          "w": -0.022338867
        }
      },
      "status": {
        "error": 0,
        "ready": true
      }
    }
  ],
  "wireless_verse_grip": [
    {
      "device_id": "0",
      "config": {
        "port": "COM6",
        "type": "wireless_verse_grip",
        "major_version": 1,
        "minor_version": 4,
        "hardware_version": 1
      },
      "state": {
        "battery_level": 0.816,
        "battery_voltage": 3.77,
        "buttons": {
          "a": false,
          "b": false,
          "c": false
        },
        "hall": 16,
        "orientation": {
          "x": -0.019866943,
          "y": -0.017486572,
          "z": 0.05508423,
          "w": -0.9963989
        }
      },
      "status": {
        "connected": true,
        "awake": true,
        "ready": true
      }
    }
  ]
}

Force Scale​

Method: POST

URL: http://localhost:10000/force_scale

Body example:

{
  "force_scale": 0.5
}

Response example:

{
  "ok": true
}

Gravity Compensation​

Method: POST

URL: http://localhost:10000/gravity_compensation

Body example:

{
  "device_id": "049D",
  "enable": true,
  "gravity_scaling_factor": 0.8
}

Response example:

{
  "ok": true
}

Torque scaling​

Method: POST

URL: http://localhost:10000/torque_scaling

Body example:

{
  "device_id": "049D",
  "enable": true
}

Response example:

{
  "ok": true
}

Device Handedness​

Method: POST

URL: http://localhost:10000/device_handedness

Body example:

{
  "device_id": "049D",
  "handedness": "right"
}

Response example:

{
  "ok": true
}

Save Configuration​

Only works with Inverse3 devices. Warning: Avoid saving the configuration too often, since there is a limited number of save that can be applied to any given device.

Method: POST

URL: http://localhost:10000/save_configuration

Body example:

{
  "device_id": "049D"
}

Response example:

{
  "ok": true
}

Serial Enable​

Enable or disable all the serial communication. When the serial communication is disabled it is impossible to send commands to the devices.

Method: POST

URL: http://localhost:10000/serial_enable

Body example:

{
  "enable": true
}

Response example:

{
  "ok": true
}

Grip Vertical Stopper​

Enable or disable the grip vertical stopper experimental feature. This feature will check the wireless VerseGrip orientation to detect when the VerseGrip is dropped. When it triggers, it sets the Inverse3 into position control in its current position so that the end effector doesn't drop. It is disabled automatically when the VerseGrip is picked up again.

Experimental

As an experimental feature it is disabled by default and needs to be explicitly enabled to activate.

Method: POST

URL: http://localhost:10000/experimental/features/grip_dropped_simulation_stopper

Body example:

{
  "enable": true,
  "hall_effect_threshold": 17
}

Response example:

{
  "ok": true
}