forcedimension_core.dhd.direct module

forcedimension_core.dhd.direct.getAngularVelocityDeg(out: SupportsPtrs3[c_double], ID: int = -1) → int

Retrieve the estimated angular velocity (in [deg/s]).

Note

The velocity estimator requires at least 2 position updates during the time interval defined in forcedimension_core.dhd.configAngularVelocity() in order to be able to compute the estimate. Otherwise, if there are no calls to:func:forcedimension_core.dhd.getPosition() or forcedimension_core.dhd.getAngularVelocityDeg(), this function will error with forcedimension_core.constants.ErrorNum.TIMEOUT. For more information refer to Velocity Estimator.

Parameters:

• ID (int) – Device ID (see Support for Multiple Devices section for details).

• out – An output buffer to store the angular velocity (in [deg/s]).

Raises:

• AttributeError – If out.ptrs is not a valid attribute of out

• TypeError – If out.ptrs is not iterable.

• ctypes.ArgumentError – If out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.configAngularVelocity()

forcedimension_core.dhd.direct.getAngularVelocityRad()

forcedimension_core.dhd.direct.getAngularVelocityRad(out: SupportsPtrs3[c_double], ID: int = -1) → int

Retrieve the estimated angular velocity (in [rad/s]).

Note

The velocity estimator requires at least 2 position updates during the time interval defined in forcedimension_core.dhd.configAngularVelocity() in order to be able to compute the estimate. Otherwise, if there are no calls to:func:forcedimension_core.dhd.getPosition() or forcedimension_core.dhd.getAngularVelocityRad(), this function will return error with forcedimension_core.constants.ErrorNum.TIMEOUT. For more information refer to Velocity Estimator.

Parameters:

• ID (int) – Device ID (see Support for Multiple Devices section for details).

• out – An output buffer to store the angular velocity (in [rad/s]).

Raises:

• AttributeError – If out.ptrs is not a valid attribute of out

• TypeError – If out.ptrs is not iterable.

• ctypes.ArgumentError – If out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.configAngularVelocity()

forcedimension_core.dhd.direct.getAngularVelocityDeg()

forcedimension_core.dhd.direct.getForce(out: SupportsPtrs3[c_double], ID: int = -1) → int

Retrieve the force vector applied to the end-effector (in [N]) about the X, Y, and Z axes Please refer to your device user manual for more information on your device coordinate system.

Parameters:

• out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the applied forces on the end-effector (in [N]).

• ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

• AttributeError – If out.ptrs is not a valid attribute of out

• TypeError – If out does not support item assignment either because its immutable or not subscriptable.

• TypeError – If out.ptrs is not iterable.

• ctypes.ArgumentError – If out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.setForce()

forcedimension_core.dhd.direct.setForceAndTorque()

forcedimension_core.dhd.direct.setForceAndTorqueAndGripperForce()

forcedimension_core.dhd.direct.getForceAndTorque()

forcedimension_core.dhd.direct.getForceAndTorqueAndGripperForce()

forcedimension_core.dhd.direct.getForceAndTorque(f_out: SupportsPtrs3[c_double], t_out: SupportsPtrs3[c_double], ID: int = -1) → int

Retrieve the forces (in [N]) and torques (in [Nm]) applied to the device end-effector about the X, Y, and Z axes. Please refer to your device user manual for more information on your device coordinate system.

Parameters:

• ID (int) – Device ID (see Support for Multiple Devices section for details).

• f_out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the applied forces on the end-effector (in [N]).

• t_out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the applied torques on the end-effector (in [Nm]).

Raises:

• AttributeError – If f_out.ptrs is not a valid attribute of f_out

• TypeError – If f_out.ptrs is not iterable.

• ctypes.ArgumentError – If f_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• AttributeError – If t_out.ptrs is not a valid attribute of t_out

• TypeError – If t_out.ptrs is not iterable.

• ctypes.ArgumentError – If t_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0, on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.setForce()

forcedimension_core.dhd.direct.setForceAndTorque()

forcedimension_core.dhd.direct.setForceAndTorqueAndGripperForce()

forcedimension_core.dhd.direct.getForce()

forcedimension_core.dhd.direct.getForceAndTorque()

forcedimension_core.dhd.direct.getForceAndTorqueAndGripperForce()

forcedimension_core.dhd.direct.getForceAndTorqueAndGripperForce(f_out: SupportsPtrs3[c_double], t_out: SupportsPtrs3[c_double], fg_out: c_double, ID: int = -1) → int

Retrieve the forces (in [N]) and torques (in [Nm]) applied to the device end-effector as well as the gripper force (in [N]). Forces and torques are about the X, Y, and Z axes.

Parameters:

• ID (int) – Device ID (see Support for Multiple Devices section for details).

• f_out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the applied forces on the end-effector (in [N]).

• t_out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the applied torques on the end-effector (in [Nm]).

Raises:

• AttributeError – If f_out.ptrs is not a valid attribute of f_out

• TypeError – If f_out.ptrs is not iterable.

• ctypes.ArgumentError – If f_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• AttributeError – If t_out.ptrs is not a valid attribute of t_out

• TypeError – If t_out.ptrs is not iterable.

• ctypes.ArgumentError – If t_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• AttributeError – If fg_out.ptr is not a valid attribute of fg_out

• ctypes.ArgumentError – If fg_out.ptr is not a Pointer[c_double].

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0, on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.getForce()

forcedimension_core.dhd.direct.getForceAndTorque()

forcedimension_core.dhd.direct.getGripperFingerPos(out: SupportsPtrs3[c_double], ID: int = -1) → int

Read the position (in [m]) of forefinger rest location about the X, Y, and Z axes of the force gripper structure if present.

Note

This feature only applies to devices with a gripper. See the Device Types section for more details.

Parameters:

• ID (int) – Device ID (see Support for Multiple Devices section for details).

• out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the gripper finger position (in [m]).

Raises:

• AttributeError – If out.ptrs is not a valid attribute of out

• TypeError – If out.ptrs is not iterable.

• ctypes.ArgumentError – If out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0 or forcedimension_core.constants.TIMEGUARD on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.getGripperFingerPos()

forcedimension_core.dhd.direct.getGripperThumbPos(out: SupportsPtrs3[c_double], ID: int = -1) → int

Read the position (in [m]) of thumb rest location about the X, Y, and Z axes of the force gripper structure if present.

Note

This feature only applies to devices with a gripper. See the Device Types section for more details.

Parameters:

• ID (int) – Device ID (see Support for Multiple Devices section for details).

• out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the grippper thumb position (in [m]).

Raises:

• AttributeError – If out.ptrs is not a valid attribute of out

• TypeError – If out.ptrs is not iterable.

• ctypes.ArgumentError – If out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0 or forcedimension_core.constants.TIMEGUARD on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.getGripperFingerPos()

forcedimension_core.dhd.direct.getLinearVelocity(out: SupportsPtrs3[c_double], ID: int = -1) → int

Retrieve the estimated instanteous linear velocity (in [m/s]).

Note

The velocity estimator requires at least 2 position updates during the time interval defined in forcedimension_core.dhd.configLinearVelocity() in order to be able to compute the estimate. Otherwise, if there are no calls to forcedimension_core.dhd.getPosition() or forcedimension_core.dhd.getLinearVelocity(), this function will error with forcedimension_core.constants.ErrorNum.TIMEOUT. For more information refer to Velocity Estimator.

Parameters:

• ID (int) – Device ID (see Support for Multiple Devices section for details).

• out (SupportsPtr[ctypes.c_double]) – An output buffer to store the linear velocity (in [m/s]).

Raises:

• AttributeError – If out.ptrs is not a valid attribute of out

• TypeError – If out.ptrs is not iterable.

• ctypes.ArgumentError – If out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.configLinearVelocity()

forcedimension_core.dhd.direct.getOrientationDeg(out: SupportsPtrs3[c_double], ID: int = -1) → int

For devices with a wrist structure, retrieve individual angle (in [deg]) of each joint, starting with the one located nearest to the wrist base plate.

Note

This feature only applies to devices with a wrist. See the Device Types section for more details.

Note

forcedimension_core.constants.DeviceType.OMEGA6_RIGHT and forcedimension_core.constants.DeviceType.OMEGA6_LEFT have angles that are instead computed with respect to their internal reference frame, which is rotated π/4 radians around the Y axis. Please refer to your device user manual for more information on your device coordinate system.

Parameters:

• out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the joint angles (in [deg]).

• ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

• AttributeError – If out.ptrs is not a valid attribute of out

• TypeError – If out does not support item assignment either because its immutable or not subscriptable.

• TypeError – If out.ptrs is not iterable.

• ctypes.ArgumentError – If out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0 or forcedimension_core.constants.TIMEGUARD on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.getOrientationRad()

forcedimension_core.dhd.direct.getPositionAndOrientationRad()

forcedimension_core.dhd.direct.getPositionAndOrientationDeg()

forcedimension_core.dhd.direct.getOrientationFrame(out: SupportsPtr[c_double], ID: int = -1) → int

Retrieve the rotation matrix of the wrist structure. The identity matrix is returned for devices that do not support orientations.

Parameters:

• ID (int) – Device ID (see Support for Multiple Devices section for details).

• out (SupportsPtr[ctypes.c_double]) – An output buffer to store the orientation frame.

Raises:

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

• AttributeError – If out.ptr is not a valid attribute of p_out

• ctypes.ArgumentError – If out.ptr is not a Pointer[c_double] type.

Returns:

0 or forcedimension_core.constants.TIMEGUARD on success, -1 otherwise.

See also

forcedimension_core.containers.Mat3x3

forcedimension_core.containers.numpy.Mat3x3

forcedimension_core.dhd.direct.getPositionAndOrientationFrame()

forcedimension_core.dhd.direct.getOrientationRad(out: SupportsPtrs3[c_double], ID: int = -1) → int

For devices with a wrist structure, retrieve individual angle (in [rad]) of each joint, starting with the one located nearest to the wrist base plate.

Note

This feature only applies to devices with a wrist. See the Device Types section for more details.

Note

forcedimension_core.constants.DeviceType.OMEGA6_RIGHT and forcedimension_core.constants.DeviceType.OMEGA6_LEFT have angles that are instead computed with respect to their internal reference frame, which is rotated π/4 radians around the Y axis. Please refer to your device user manual for more information on your device coordinate system.

Parameters:

• out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the joint angles (in [rad]).

• ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

• AttributeError – If out.ptrs is not a valid attribute of out

• TypeError – If out does not support item assignment either because its immutable or not subscriptable.

• TypeError – If out.ptrs is not iterable.

• ctypes.ArgumentError – If out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0 or forcedimension_core.constants.TIMEGUARD on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.getOrientationDeg()

forcedimension_core.dhd.direct.getPositionAndOrientationRad()

forcedimension_core.dhd.direct.getPositionAndOrientationDeg()

forcedimension_core.dhd.direct.getPosition(out: SupportsPtrs3[c_double], ID: int = -1) → int

Retrieve the position of the end-effector about the X, Y, and Z axes. Please refer to your device user manual for more information on your device coordinate system.

Parameters:

• out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the position of the end-effector (in [m]).

• ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

• AttributeError – If out.ptrs is not a valid attribute of out

• TypeError – If out.ptrs is not iterable.

• ctypes.ArgumentError – If out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0 or forcedimension_core.dhd.TIMEGUARD on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.getPositionAndOrientationRad()

forcedimension_core.dhd.direct.getPositionAndOrientationDeg()

forcedimension_core.dhd.direct.getPositionAndOrientationFrame()

forcedimension_core.dhd.direct.getPositionAndOrientationDeg(p_out: SupportsPtrs3[c_double], o_out: SupportsPtrs3[c_double], ID: int = -1) → int

Retrieve the position (in [m]) and for devices with a wrist structure, retrieve individual angle of each joint (in [deg]), starting with the one located nearest to the wrist base plate.

Note

This feature only applies to devices with a wrist. See the Device Types section for more details.

Note

forcedimension_core.constants.DeviceType.OMEGA6_RIGHT and forcedimension_core.constants.DeviceType.OMEGA6_LEFT have angles that are instead computed with respect to their internal reference frame, which is rotated π/4 radians around the Y axis. Please refer to your device user manual for more information on your device coordinate system.

Parameters:

• ID (int) – Device ID (see Support for Multiple Devices section for details).

• p_out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the position (in [m]).

• o_out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the joint angles (in [rad]).

Raises:

• AttributeError – If p_out.ptrs is not a valid attribute of out

• TypeError – If p_out.ptrs is not iterable.

• ctypes.ArgumentError – If p_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• AttributeError – If o_out.ptrs is not a valid attribute of out

• TypeError – If o_out does not support item assignment either because its immutable or not subscriptable.

• TypeError – If o_out.ptrs is not iterable.

• ctypes.ArgumentError – If o_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0 or forcedimension_core.constants.TIMEGUARD on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.getOrientationRad()

forcedimension_core.dhd.direct.getOrientationDeg()

forcedimension_core.dhd.direct.getPositionAndOrientationRad()

forcedimension_core.dhd.direct.getPositionAndOrientationFrame(p_out: SupportsPtrs3[c_double], matrix_out: SupportsPtr[c_double], ID: int = -1) → int

Retrieve the position (in [m]) and orientation matrix of the end-effector about the X, Y, and Z axes. Please refer to your device user manual for more information on your device coordinate system.

Note

This feature only applies to devices with a wrist. See the Device Types section for more details.

Note

forcedimension_core.constants.DeviceType.OMEGA6_RIGHT and forcedimension_core.constants.DeviceType.OMEGA6_LEFT have angles that are instead computed with respect to their internal reference frame, which is rotated π/4 radians around the Y axis. Please refer to your device user manual for more information on your device coordinate system.

Parameters:

ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

• AttributeError – If p_out.ptrs is not a valid attribute of p_out

• TypeError – If p_out.ptrs is not iterable.

• ctypes.ArgumentError – If p_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• AttributeError – If matrix_out.ptr is not a valid attribute of matrix_out.

• ctypes.ArgumentError – If p_out.ptr is not a Pointer[c_double] type.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0 or forcedimension_core.constants.TIMEGUARD on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.getOrientationRad()

forcedimension_core.dhd.direct.getOrientationDeg()

forcedimension_core.dhd.direct.getPositionAndOrientationRad()

forcedimension_core.dhd.direct.getPositionAndOrientationDeg()

forcedimension_core.dhd.direct.getPositionAndOrientationRad(p_out: SupportsPtrs3[c_double], o_out: SupportsPtrs3[c_double], ID: int = -1) → int

Retrieve the position (in [m]) and for devices with a wrist structure, retrieve individual angle of each joint (in [rad]), starting with the one located nearest to the wrist base plate.

Note

This feature only applies to devices with a wrist. See the Device Types section for more details.

Note

forcedimension_core.constants.DeviceType.OMEGA6_RIGHT and forcedimension_core.constants.DeviceType.OMEGA6_LEFT have angles that are instead computed with respect to their internal reference frame, which is rotated π/4 radians around the Y axis. Please refer to your device user manual for more information on your device coordinate system.

Parameters:

• ID (int) – Device ID (see Support for Multiple Devices section for details).

• p_out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the position (in [m]).

• o_out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the joint angles (in [rad]).

Raises:

• AttributeError – If p_out.ptrs is not a valid attribute of out

• TypeError – If p_out.ptrs is not iterable.

• ctypes.ArgumentError – If p_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• AttributeError – If o_out.ptrs is not a valid attribute of out

• TypeError – If o_out does not support item assignment either because its immutable or not subscriptable.

• TypeError – If o_out.ptrs is not iterable.

• ctypes.ArgumentError – If o_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.

• ctypes.ArgumentError – If ID is not implicitly convertible to C char.

Returns:

0 or forcedimension_core.constants.TIMEGUARD on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.dhd.direct.getOrientationRad()

forcedimension_core.dhd.direct.getOrientationDeeg()

forcedimension_core.dhd.direct.getPositionAndOrientationDeg()