Device Configuration

Device configuration is sent under each device's configure map (WebSocket) or via /{device_type}/{id}/config/{key} HTTP routes. All entries are persistent — set once, stays until changed.

Configuration availability matrix

Key	WS configure	HTTP config/	Session-scoped	Notes
preset	✓	✓	✓	Mutually exclusive with mount
basis	✓	✓	✓	Session-level and per-device
mount	✓	✓	✓	Mutually exclusive with preset
damping	✓	✓	✓	Scalar and/or directional
force_gate	✓	✓	✓	Oscillation guard
handedness	—	✓	—	Device-global (right/left)
torque_scaling	—	✓	—	Device-global
gravity_compensation	—	✓	—	Device-global
home_return	—	✓	—	Firmware not yet active
navigation	✓	✓	✓	Module → see dedicated page

---

preset

Selects a named factory configuration that sets mount, basis, and workspace origin in one shot. See Mount & Workspace (presets) for the full list.

WebSocket

{ "inverse3": [{ "device_id": "049D", "configure": { "preset": { "preset": "arm_front_centered" } } }] }

HTTP

curl -X POST "http://localhost:10001/inverse3/049D/config/preset?session=:0" \
     -d '{"preset":"arm_front_centered"}'

---

basis

Sets the coordinate-axis remapping. See Basis Permutation for conventions and migration notes.

WebSocket

{ "session": { "configure": { "basis": { "permutation": "XZY" } } } }

Per-device basis is also supported:

{ "inverse3": [{ "device_id": "049D", "configure": { "basis": { "permutation": "XZY" } } }] }

HTTP

curl -X POST "http://localhost:10001/inverse3/049D/config/basis?session=:0" \
     -d '{"permutation":"XZY"}'

---

mount

Overrides the physical mount transform. See Mount & Workspace for the coordinate pipeline.

WebSocket

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

HTTP

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

mount and preset are mutually exclusive

Don't send both in the same message — the service rejects it as ambiguous.

---

damping

Controls both uniform and directional damping. At least one field must be present.

WebSocket

{ "inverse3": [{ "device_id": "049D", "configure": { "damping": { "scalar": 0.5 } } }] }

Directional:

{ "inverse3": [{ "device_id": "049D", "configure": { "damping": { "vector": { "x": 0.0, "y": 1.0, "z": 0.0 } } } }] }

HTTP

curl -X POST "http://localhost:10001/inverse3/049D/config/filters/damping?session=:0" \
     -d '{"scalar": 0.5}'

---

force_gate

Oscillation guard — attenuates force output when oscillation is detected.

Value	Effect
gain = 0.0	Disabled — force passes at full magnitude
gain = 1.0	Maximum attenuation during oscillation

WebSocket

{ "inverse3": [{ "device_id": "049D", "configure": { "force_gate": { "gain": 0.5 } } }] }

HTTP

curl -X POST "http://localhost:10001/inverse3/049D/config/filters/force_gate?session=:0" \
     -d '{"gain": 0.5}'

---

HTTP-only device configuration

The following settings are device-global (not session-scoped) and can only be set via HTTP:

Endpoint	Body	Description
POST /{type}/{id}/config/handedness	"left" or "right"	Inverse3 handedness
POST /{type}/{id}/config/torque_scaling	{ "enabled": bool }	Enable/disable torque scaling
POST /{type}/{id}/config/gravity_compensation	{ "enabled": bool, "scaling_factor": float }	Gravity compensation
POST /{type}/{id}/config/home_return	{ "enabled": bool }	Return-home (firmware not yet active)

All support GET (read current), POST (set), and DELETE (reset to default).