Control Parameter Types

ChassisPosition

class ChassisPosition:
    x: float # X coordinate (m)
    y: float # Y coordinate (m)
    yaw: float  # Yaw angle (rad)

ChassisVelocity

class ChassisVelocity:
    vel_x: float   # X-direction velocity (m/s), positive for forward
    vel_y: float   # Y-direction velocity (m/s)
    vel_yaw: float # Angular velocity (rad/s), positive: counterclockwise rotation

ChassisControlModeParam

class ChassisControlModeParam:
    mode: ChassisControlMode

JointPositions

class JointPositions:
    positions: list[float]  # 6 joint angles (radians)

Odometry

class Odometry:
    header: Header
    child_frame_id: str
    pose: PoseWithCovariance
    twist: TwistWithCovariance

GripperPosition

class GripperPosition:
    position: float   # Motor rotation angle (radians)

For master-arm interfaces, GripperPosition.position represents the master-arm trigger input and is normally in the range [0, 1]. For slave-arm gripper interfaces, the field represents the gripper position or motor rotation angle.

LiftPosition

class LiftPosition:
    position: float # Positive for rising, negative for lowering (m)

ManipulatorControlModeParam

class ManipulatorControlModeParam:
    mode: ManipulatorControlMode