Control Commands

These are per-tick, non-persistent commands sent under each device's commands map. They are applied once and forgotten — if you stop sending them, the device returns to idle.

All control commands are WebSocket-only (no HTTP equivalent) unless noted.

set_cursor_force

Apply a Cartesian force to the cursor (end-effector).

{
  "inverse3": [{
    "device_id": "049D",
    "commands": {
      "set_cursor_force": {
        "vector": { "x": 0.0, "y": 0.0, "z": 1.5 }
      }
    }
  }]
}

Field	Type	Description
vector	vec3	Force in Newtons, in application space

Forces are additive within a tick — multiple sources (your app, SDF HFX, navigation) sum before being sent to the device.

---

set_cursor_position

Command the cursor to a target position (position-mode control).

{
  "inverse3": [{
    "device_id": "049D",
    "commands": {
      "set_cursor_position": {
        "position": { "x": 0.0, "y": -0.12, "z": 0.15 }
      }
    }
  }]
}

Field	Type	Description
position	vec3	Target position in metres, in application space

The service computes the force needed to move the cursor toward the target. If safe-trajectory is enabled, the cursor velocity is rate-limited.

---

set_angular_torques

Apply torques to the three joints (angular force-mode control).

{
  "inverse3": [{
    "device_id": "049D",
    "commands": {
      "set_angular_torques": {
        "torques": { "a0": 0.0, "a1": 0.0, "a2": 0.0 }
      }
    }
  }]
}

Field	Type	Description
torques	angles3	Joint torques

---

set_angular_position

Command the joints to target angles (angular position-mode control).

{
  "inverse3": [{
    "device_id": "049D",
    "commands": {
      "set_angular_position": {
        "angles": { "a0": 30.0, "a1": 45.0, "a2": 60.0 }
      }
    }
  }]
}

Field	Type	Description
angles	angles3	Target joint angles in degrees

---

set_transform

Set the workspace transform (device-space → application-space). Unlike the other commands, set_transform is persistent — the service remembers the last value you sent. Stream it during camera motion, or send it once and leave it.

WebSocket

{
  "inverse3": [{
    "device_id": "049D",
    "commands": {
      "set_transform": {
        "transform": {
          "position": { "x": 1.0, "y": 0.0, "z": 0.0 },
          "rotation": { "x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0 },
          "scale":    { "x": 1.0, "y": 1.0, "z": 1.0 }
        }
      }
    }
  }]
}

HTTP

curl -X POST "http://localhost:10001/inverse3/049D/state/transform?session=:0" \
     -H "Content-Type: application/json" \
     -d '{"transform":{"position":{"x":1,"y":0,"z":0},"rotation":{"w":1,"x":0,"y":0,"z":0},"scale":{"x":1,"y":1,"z":1}}}'

Verse grip / wireless verse grip

For grip devices, only rotation has an effect. position and scale are accepted for schema consistency with Inverse3 but have no effect on the grip.

Use the Navigation module for automated drift

If you need continuous locomotion, use the Navigation module instead of manually streaming set_transform — it handles the physics, haptic feedback, and workspace bounding for you.

---

probe_position / probe_orientation

Monitoring-only keepalives for sessions that don't send control commands (e.g., Haply Hub observing devices).

{
  "inverse3": [{ "device_id": "049D", "commands": { "probe_position": {} } }]
}

{
  "verse_grip": [{ "device_id": "DEF456", "commands": { "probe_orientation": {} } }]
}

You probably don't need these

If your session is already sending any control command (set_cursor_force, set_cursor_position, etc.), the device state is refreshed automatically with every response. Probes are only useful for read-only monitoring sessions.