forcedimension_core.dhd.expert.direct module

forcedimension_core.dhd.expert.direct.deltaEncoderToPosition(enc: Array[int, int], out: SupportsPtrs3[c_double], ID: int = -1) → int[source]

This routine computes and returns the position of the end-effector about the X, Y, and Z axes (in [m]) for a given set of encoder values.

Parameters:

enc (Array[int, int]) – Sequence of (enc0, enc1, enc2) where enc0, enc1, and enc2 refer to raw encoder values on axis 0, 1, and 2, respectively.
ID (int) – Device ID (see Support for Multiple Devices section for details).
out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the position about the X, Y, and Z axes (in [m]).

Raises:

ctypes.ArgumentError – If any element of enc is not implicitly convertible to a C int.
IndexError – If len(enc) < 3.
TypeError – If enc is not subscriptable.
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 a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3
forcedimension_core.containers.numpy.Vec3
forcedimension_core.dhd.expert.direct.getDeltaEncoders()
forcedimension_core.dhd.expert.direct.deltaPositionToEncoder()
forcedimension_core.dhd.expert.direct.deltaEncodersToJointAngles()

forcedimension_core.dhd.expert.direct.deltaEncodersToJointAngles(enc: Array[int, int], out: SupportsPtrs3[c_double], ID: int = -1) → int[source]

This routine computes and returns the DELTA joint angles (in [rad]) for a given set of encoder values.

Parameters:

enc (Array[int, int]) – Sequence of (enc0, enc1, enc2) where enc0, enc1, and enc2 refer to encoder values on axis 0, 1, and 2, respectively.
ID (int) – Device ID (see Support for Multiple Devices section for details).
out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the DELTA joint angles (in [rad]) about axes 0, 1, and 2.

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 any element of enc is not implicitly convertible to a C int.
IndexError – If len(enc) < 3.
TypeError – If enc is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

forcedimension_core.dhd.expert.direct.deltaForceToMotor(f: Array[int, float], enc: Array[int, int], out: SupportsPtrs3[c_ushort], ID=-1) → int[source]

This routine computes and returns the motor commands necessary to obtain a given force on the end-effector at a given position (defined by encoder readings).

Parameters:

f (Array[int, float]) – Sequence of (fx, fy, fz) where fx, fy, and fz are the force on the DELTA end-effector on the X, Y, and Z axes, respectively (in [N]).
enc (Array[int, int]) – Sequence of (enc0, enc1, enc2) where enc0, enc1, and enc2 refer to encoder values on axis 0, 1, and 2, respectively.
out (SupportsPtrs3[ctypes.c_ushort]) – An output buffer to store the motor commands on axes 0, 1, and 2.
ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

ctypes.ArgumentError – If any element of f is not implicitly convertible to a C double.
IndexError – If len(f) < 3.
TypeError – If f is not subscriptable.
ctypes.ArgumentError – If any element of enc is not implicitly convertible to a C int.
IndexError – If len(enc) < 3.
TypeError – If enc is not subscriptable.
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_ushort] types.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 or forcedimension_core.constants.MOTOR_SATURATED on success, and -1 otherwise.

See also

forcedimension_core.containers.Mot3
forcedimension_core.containers.numpy.Mot3
forcedimension_core.dhd.expert.direct.deltaMotorToForce()

forcedimension_core.dhd.expert.direct.deltaJointAnglesToEncoders(joint_angles: Array[int, float], out: SupportsPtrs3[c_int], ID: int = -1) → int[source]

This routine computes and returns the DELTA encoder values for a given set of joint angles (in [rad]).

Parameters:

enc (Array[int, float]) – Sequence of (j0, j1, j1) where j0, j1, and j2 refer to DELTA joint angles (in [rad]) for axes 0, 1, and 2, respectively.
ID (int) – Device ID (see Support for Multiple Devices section for details).
out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the DELTA encoder values.

Raises:

ctypes.ArgumentError – If any element of joint_angles is not implicitly convertible to a C double.
IndexError – If len(joint_angles) < 3.
TypeError – If joint_angles is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Enc3
forcedimension_core.containers.numpy.Enc3
forcedimension_core.dhd.expert.direct.deltaJointAnglesToJacobian()
forcedimension_core.dhd.expert.direct.deltaEncodersToJointAngles()

forcedimension_core.dhd.expert.direct.deltaJointAnglesToJacobian(joint_angles: Array[int, float], out: SupportsPtr[c_double], ID: int = -1) → int[source]

Retrieve the 3x3 jacobian matrix for the DELTA structure based on a given joint configuration. Please refer to your device user manual for more information on your device coordinate system.

Parameters:

joint_angles (Array[int, float]) – Sequence of (j0, j1, j2) where j0, j1, and j2 refer to the joint angles (in [rad]) for axis 0, 1, and 2, respectively.
ID (int) – Device ID (see Support for Multiple Devices section for details).
out (SupportsPtr[c_double]) – An output buffer to store the Jacobian.

Raises:

AttributeError – If out.ptr is not a valid attribute of out
ctypes.ArgumentError – If out.ptr is not of type Pointer[c_double]
ctypes.ArgumentError – If any element of joint_angles is not implicitly convertible to C double.
IndexError – If len(joint_angles) < 3.
TypeError – If joint_angles is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Mat3x3
forcedimension_core.containers.numpy.Mat3x3
forcedimension_core.dhd.expert.direct.getJointAngles()
forcedimension_core.dhd.expert.direct.getDeltaJointAngles()
forcedimension_core.dhd.expert.direct.getDeltaJacobian()

forcedimension_core.dhd.expert.direct.deltaJointTorquesExtrema(joint_angles: Array[int, float], minq_out: SupportsPtr[c_double], maxq_out: SupportsPtr[c_double], ID: int = -1) → int[source]

Compute the range of applicable DELTA joint torques (in [Nm]) for a given DELTA joint angle configuration (in [rad]). Please refer to your device user manual for more information on your device coordinate system.

Parameters:

joint_angles (Array[int, float]) – Sequence of (j0, j1, j2) where j0, j1, and j2 refer to the joint angles (in [rad]) for axis 0, 1, and 2, respectively.
minq_out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the minimum appliable DELTA joint torques about axes 0, 1, and 2 (in [Nm]).
maxq_out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the maximum appliable DELTA joint torques about axes 0, 1, and 2 (in [Nm]).

Raises:

AttributeError – If minq_out.ptrs is not a valid attribute of minq_out
TypeError – If minq_out.ptrs is not iterable.
ctypes.ArgumentError – If minq_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.
AttributeError – If maxq_out.ptrs is not a valid attribute of maxq_out
TypeError – If maxq_out.ptrs is not iterable.
ctypes.ArgumentError – If maxq_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.
ctypes.ArgumentError – If any element of joint_angles is not implicitly convertible to a C double.
IndexError – If len(joint_angles) < 3.
TypeError – If joint_angles is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3
forcedimension_core.containers.numpy.Vec3
forcedimension_core.dhd.expert.direct.wristJointTorquesExtrema()
forcedimension_core.dhd.expert.direct.getDeltaJointAngles()
forcedimension_core.dhd.expert.direct.getJointAngles()

forcedimension_core.dhd.expert.direct.deltaMotorToForce(mot: Array[int, int], enc: Array[int, int], out: SupportsPtrs3[c_double], ID: int = -1) → int[source]

This routine computes and returns the force applied to the end-effector about the X, Y, and Z axes (in [N]) for a given set of motor commands at a given position (defined by encoder readings)

Parameters:

mot (Array[int, int]) – Sequence of (mot0, mot1, mot2) where mot0, mot1, and mot2 are the axis 0, 1, and 2 DELTA motor commands, respectively.
enc (Array[int, int]) – Sequence of (enc0, enc1, enc2) where enc0, enc1, and enc2 refer to encoder values on axis 0, 1, and 2, respectively.
out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the force applied to the end effector about the X, Y, and Z axes (in [N])
ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

TypeError – If out does not support item assignment either because it’s immutable or not subscriptable.
IndexError – If len(out) < 3.
ctypes.ArgumentError – If any element of output is not implicitly convertible to a C ushort.
IndexError – If len(output) < 3.
TypeError – If output is not subscriptable.
ctypes.ArgumentError – If any element of enc is not implicitly convertible to a C char.
IndexError – If len(enc) < 3
TypeError – If enc is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3
forcedimension_core.containers.numpy.Vec3
forcedimension_core.dhd.expert.direct.deltaForceToMotor()

forcedimension_core.dhd.expert.direct.deltaPositionToEncoder(pos: Array[int, float], out: SupportsPtrs3[c_int], ID: int = -1) → int[source]

Computes and returns the encoder values of the end-effector for a given end-effector position.

Parameters:

pos (Array[int, float]) – Sequence of (px, py, pz) where px, py, and pz refer to the end-effector position on the X, Y, and Z axes, respectively (in [m]).
ID (int) – Device ID (see Support for Multiple Devices section for details).
out (SupportsPtrs3[ctypes.c_int]) – An output buffer to store the delta encoder values.

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 any element of pos is not implicitly convertible to a C double.
IndexError – If len(pos) < 3.
TypeError – If pos is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Enc3
forcedimension_core.containers.numpy.Enc3
forcedimension_core.dhd.expert.direct.getDeltaEncoders()
forcedimension_core.dhd.expert.direct.deltaEncoderToPosition()
forcedimension_core.dhd.expert.direct.deltaEncodersToJointAngles()

forcedimension_core.dhd.expert.direct.getDeltaEncoders(out: SupportsPtrs3[c_int], ID: int = -1) → int[source]

Read all encoders values of the DELTA structure.

Parameters:

ID (int) – Device ID (see Support for Multiple Devices section for details).
out (SupportsPtrs3[ctypes.c_int]) – An output buffer to store the delta encoder values.

Raises:

IndexError – If len(out) < 3.
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 a C char.

Returns:

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

See also

forcedimension_core.containers.Enc3
forcedimension_core.containers.numpy.Enc3
forcedimension_core.dhd.expert.direct.deltaEncodersToJointAngles()
forcedimension_core.dhd.expert.direct.deltaEncoderToPosition()

forcedimension_core.dhd.expert.direct.getDeltaJacobian(out: SupportsPtr[c_double], ID: int = -1) → int[source]

Retrieve the 3x3 jacobian matrix for the DELTA structure based on the current end-effector position. 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).
out (SupportsPtr[c_double]) – An output buffer to store the Jacobian.

Raises:

AttributeError – If out.ptr is not a valid attribute of out
ctypes.ArgumentError – If out.ptr is not of type Pointer[c_double]
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

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.expert.direct.deltaJointAnglesToJacobian()

forcedimension_core.dhd.expert.direct.getDeltaJointAngles(out: SupportsPtrs3[c_double], ID: int = -1) → int[source]

Retrieve the joint angles (in [rad]) for the DELTA structure.

Parameters:

ID (int) – Device ID (see Support for Multiple Devices section for details).
out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the joint angles (in [rad]) of the DELTA structure for axes 0, 1, and 2.

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 a 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.expert.direct.deltaEncodersToJointAngles()
forcedimension_core.dhd.expert.direct.deltaJointAnglesToEncoders()
forcedimension_core.dhd.expert.direct.deltaJointAnglesToJacobian()

forcedimension_core.dhd.expert.direct.getEnc(out: SupportsPtr[c_int], mask: int = 255, ID: int = -1) → int[source]

Get a selective list of encoder values. Particularly useful when using the generic controller directly, without a device model attached.

Parameters:

out (SupportsPtr[c_int]) – An output buffer to store the encoder values.
mask (int) – Bitwise mask of which motor should be set.
ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

AttributeError – If out.ptr is not a valid attribute of out
ctypes.ArgumentError – If out.ptr is not of type Pointer[c_int]
ctypes.ArgumentError – If mask is not implicitly convertible to a C uchar.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

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

See also

forcedimension_core.containers.DOFInt
forcedimension_core.containers.numpy.DOFInt
forcedimension_core.dhd.expert.direct.getEncVelocities()

forcedimension_core.dhd.expert.direct.getEncVelocities(out: SupportsPtr[c_double], ID: int = -1) → int[source]

Retrieve the encoder angle velocities (in [inc/s]) for all sensed degrees-of-freedom of the current device.

Parameters:

ID (int) – Device ID (see Support for Multiple Devices section for details).
out (SupportsPtr[c_double]) – An output buffer to store the encoder velocities (in [inc/s]) for all sensed degrees-of-freedom of the current device.

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 forcedimension_core.constants.MAX_DOF Pointer[c_double] types.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

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

See also

forcedimension_core.containers.DOFFloat
forcedimension_core.containers.numpy.DOFFloat
forcedimension_core.dhd.expert.direct.getEnc()

forcedimension_core.dhd.expert.direct.getJointAngles(out: SupportsPtr[c_double], ID: int = -1) → int[source]

Retrieve the joint angles (in [rad]) for all sensed degrees-of-freedom of the current device.

Parameters:

ID (int) – Device ID (see Support for Multiple Devices section for details).
out (SupportsPtr[c_double]) – An output buffer to store the joint angles (in [rad]) for all sensed degrees-of-freedom for the current device.

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 forcedimension_core.constants.MAX_DOF Pointer[c_double] types.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

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

See also

forcedimension_core.containers.DOFFloat
forcedimension_core.containers.numpy.DOFFloat
forcedimension_core.dhd.expert.direct.getDeltaJointAngles()
forcedimension_core.dhd.expert.direct.getWristJointAngles()
forcedimension_core.dhd.expert.direct.deltaJointAnglesToEncoders()
forcedimension_core.dhd.expert.direct.wristJointAnglesToEncoders()
forcedimension_core.dhd.expert.direct.deltaJointTorquesExtrema()
forcedimension_core.dhd.expert.direct.wristJointTorquesExtrema()
forcedimension_core.dhd.expert.direct.deltaJointAnglesToJacobian()
forcedimension_core.dhd.expert.direct.wristJointAnglesToJacobian()
forcedimension_core.dhd.expert.direct.jointAnglesToIntertiaMatrix()
forcedimension_core.dhd.expert.direct.jointAnglesToGravityJointTorques()
forcedimension_core.dhd.expert.direct.getJointVelocities()

forcedimension_core.dhd.expert.direct.getJointVelocities(out: SupportsPtr[c_double], ID: int = -1) → int[source]

Retrieve the joint angle velocities (in [rad/s]) for all sensed degrees-of-freedom of the current device.

Parameters:

out (SupportsPtr[c_double]) – An output buffer to store the joint velocities (in [rad/s]) for all sensed degrees-of-freedom of the current device.

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 forcedimension_core.constants.MAX_DOF Pointer[c_double] types.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

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

See also

forcedimension_core.containers.DOFFloat
forcedimension_core.containers.numpy.DOFFloat
forcedimension_core.containers.numpy.Vec3
forcedimension_core.dhd.expert.direct.getJointAngles()
forcedimension_core.dhd.expert.direct.getDeltaJacobian()
forcedimension_core.dhd.expert.direct.getWristJacobian()

forcedimension_core.dhd.expert.direct.getWristEncoders(out: SupportsPtrs3[c_int], ID: int = -1) → int[source]

Read all encoders values of the wrist structure.

Note

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

Parameters:

out (SupportsPtrs3[ctypes.c_int]) – An output buffer to store the wrist encoder values.
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 a C char.

Returns:

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

See also

forcedimension_core.containers.Enc3
forcedimension_core.containers.numpy.Enc3
forcedimension_core.dhd.wristEncodersToOrientation()
forcedimension_core.dhd.wristEncodersToJointAngles()
forcedimension_core.dhd.wristOrientationToEncoder()

forcedimension_core.dhd.expert.direct.getWristJacobian(out: SupportsPtr[c_double], ID: int = -1) → int[source]

Retrieve the 3x3 jacobian matrix for the wrist structure based on the current end-effector position. 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).
out (SupportsPtr[c_double]) – An output buffer to store the Jacobian.

Raises:

AttributeError – If out.ptr is not a valid attribute of out
ctypes.ArgumentError – If out.ptr is not a Pointer[c_double] type.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

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

See also

forcedimension_core.containers.Mat3x3
forcedimension_core.containers.numpy.Mat3x3
forcedimension_core.dhd.expert.direct.wristJointAnglesToJacobian()

forcedimension_core.dhd.expert.direct.getWristJointAngles(out: SupportsPtrs3[c_double], ID: int = -1) → int[source]

Retrieve the joint angles (in [rad]) for the wrist structure.

Parameters:

ID (int) – Device ID (see Support for Multiple Devices section for details).
out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the wrist joint angles.

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 a 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.expert.direct.dhdWristJointAnglesToJacobian()
forcedimension_core.dhd.expert.direct.dhdWristJointTorquesExtrema()
forcedimension_core.dhd.expert.direct.wristJointAnglesToEncoders()
forcedimension_core.dhd.expert.direct.wristEncodersToJointAngles()

forcedimension_core.dhd.expert.direct.gripperForceToMotor(f: float, enc_wrist_grip: SupportsPtr[c_int], out: c_ushort, ID: int = -1) → Tuple[int, int][source]

Given a desired force to be displayed by the force gripper, this routine computes and returns the refering motor command.

Note

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

Parameters:

f (int) – Force on the gripper end-effector (in [N]).
enc_wrist (Array[int, int]) – An output buffer to store the wrist encoding readings.
ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

ctypes.ArgumentError – If f is not implicitly convertible to a C double.
AttributeError – If enc_wrist_grip.ptr is not a valid attribute of enc_wrist_grip
ctypes.ArgumentError – If enc_wrist_grip.ptr is not of type Pointer[c_int]
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

A tuple in the form (cmd, err). cmd is the motor command on the gripper axis. err is 0 or forcedimension_core.constants.MOTOR_SATURATED on success, -1 otherwise.

See also

forcedimension_core.containers.Enc4
forcedimension_core.containers.numpy.Enc4
forcedimension_core.dhd.expert.direct.gripperForceToMotor()

forcedimension_core.dhd.expert.direct.gripperMotorToForce(cmd: int, enc_wrist_grip: SupportsPtr[c_int], out: c_double, ID: int = -1) → int[source]

Computes the force applied to the end-effector (in [N]) for a given motor command.

Note

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

Parameters:

output (int) – Motor command on gripper axis.
enc_wrist_grip (SupportsPtr[c_int]) – Buffer which contains the encoder values about wrist joints 0, 1, and 2 as well as the encoder value of the gripper.
out (c_ushort) – Output buffer to store the force applied to the end-effector (in [N]).
ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

ctypes.ArgumentError – If cmd is not implicitly convertible to a C ushort.
AttributeError – If enc_wrist_grip.ptr is not a valid attribute of enc_wrist_grip
ctypes.ArgumentError – If enc_wrist_grip.ptr is not of type Pointer[c_int]
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Enc4
forcedimension_core.containers.numpy.Enc4
forcedimension_core.dhd.expert.direct.gripperForceToMotor()

forcedimension_core.dhd.expert.direct.jointAnglesToGravityJointTorques(joint_angles: SupportsPtr[c_double], out: SupportsPtr[c_double], mask: int = 255, ID: int = -1) → int[source]

This function computes the joint torques (in [Nm]) required to provide gravity compensation on all actuated degrees-of-freedom of the current device for a given joint angles configuration (in [rad])

Parameters:

ID (int) – Device ID (see Support for Multiple Devices section for details).
mask (int) – Bitwise mask of which joint torques should be computed.
joint_angles (SupportsPtr[c_double]) – Output buffer for the joint torques required to provide gravity compensation (in [Nm]).
out (SupportsPtr[c_double]) – Output buffer for the joint torques required to provide gravity compensation (in [Nm]).

Raises:

AttributeError – If joint_angles.ptrs is not a valid attribute of joint_angles
TypeError – If joint_angles.ptrs is not subscriptable.
ctypes.ArgumentError – If joint_angles.ptr is not of type Pointer[c_double].
AttributeError – If out.ptr is not a valid attribute of out
ctypes.ArgumentError – If out.ptr is not a Pointer[c_double] type.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3
forcedimension_core.containers.numpy.Vec3
forcedimension_core.dhd.expert.direct.getJointAngles()

forcedimension_core.dhd.expert.direct.jointAnglesToIntertiaMatrix(joint_angles: SupportsPtr[c_double], out: SupportsPtr[c_double], ID: int = -1) → int[source]

Retrieve the inertia matrix based on a given joint configuration. 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).
out (SupportsPtr[c_double]) – An array of joint angles (in [rad]) containing joint angles for all degrees of freedom.
out – An output buffer for the 6x6 inertia matrix.

Raises:

AttributeError – If joint_angles.ptrs is not a valid attribute of joint_angles
TypeError – If joint_angles.ptrs is not subscriptable.
ctypes.ArgumentError – If joint_angles.ptr is not of type Pointer[c_double].
AttributeError – If out.ptr is not a valid attribute of out
ctypes.ArgumentError – If out.ptr is not a Pointer[c_double] type.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Mat6x6
forcedimension_core.containers.numpy.Mat6x6
forcedimension_core.dhd.expert.direct.getJointAngles()

forcedimension_core.dhd.expert.direct.preloadMot(cmds: SupportsPtr[c_ushort], mask: int = 255, ID: int = -1) → int[source]

Program motor commands to a selection of motor channels. Unlike forcedimension_core.dhd.expert.setMot(), this function saves the requested commands internally for later application by calling forcedimension_core.dhd.setForce() and the friends.

Parameters:

cmds (SupportsPtr[c_ushort]) – An input buffer to store the motor command values.
mask (int) – Bitwise mask of which motor should be set.
ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

ctypes.ArgumentError – If cmds.ptr is not of type Pointer[c_ushort]
IndexError – If len(cmds) < MAX_DOF.
TypeError – If cmds is not subscriptable.
ctypes.ArgumentError – If mask is not implicitly convertible to a C char.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise

See also

forcedimension_core.containers.DOFMot
forcedimension_core.containers.numpy.DOFMot
forcedimension_core.dhd.expert.direct.setMot()

forcedimension_core.dhd.expert.direct.setJointTorques(q: SupportsPtr[c_double], mask: int = 255, ID: int = -1)[source]

Sets all joint torques on all active axes.

Parameters:

q (SupportsPtr[c_double]) – An input buffer to store the Joint torques for each degree-of-freedom (in [Nm]).
mask (int) – Bitwise mask of which joints should be set
ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

ctypes.ArgumentError – If any element of cmds is not implicitly convertible to a C double.
IndexError – If len(cmds) < MAX_DOF.
ctypes.ArgumentError – If q.ptr is not of type Pointer[c_double]
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.DOFFloat
forcedimension_core.containers.numpy.DOFFloat
forcedimension_core.dhd.expert.setDeltaJointTorques()
forcedimension_core.dhd.expert.setWristJointTorques()
forcedimension_core.dhd.expert.setForceAndWristJointTorques()
forcedimension_core.dhd.expert.setForceAndWristJointTorquesAndGripperForce()

forcedimension_core.dhd.expert.direct.setMot(cmds: SupportsPtr[c_ushort], mask: int = 255, ID: int = -1) → int[source]

Program motor commands to a selection of motor channels. Particularly useful when using the generic controller directly, without a device model attached.

Parameters:

cmds (SupportsPtr[c_ushort]) – An input buffer to store the motor command values.
mask (int) – Bitwise mask of which motor should be set.
ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

ctypes.ArgumentError – If cmds.ptr is not of type Pointer[c_int]
IndexError – If len(cmds) < MAX_DOF.
ctypes.ArgumentError – If mask is not implicitly convertible to a C uchar.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise

See also

forcedimension_core.containers.DOFMot
forcedimension_core.containers.numpy.DOFMot
forcedimension_core.dhd.expert.setMotor()
forcedimension_core.dhd.expert.setDeltaMotor()
forcedimension_core.dhd.expert.setWristMotor()
forcedimension_core.dhd.expert.setGripperMotor()

forcedimension_core.dhd.expert.direct.wristEncoderToOrientation(enc: Array[int, int], out: SupportsPtrs3[c_double], ID: int = -1) → int[source]

For devices with a wrist structure, compute the individual angle of each joint (in [rad]), starting with the one located nearest to the wrist base plate. For the forcedimension_core.constants.DeviceType.OMEGA6 and the forcedimension_core.constants.DeviceType.OMEGA6_LEFT devices, angles are computed with respect to their internal reference frame, which is rotated 45 degrees or π/4 radians about the Y axis. 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.

Parameters:

enc (Array[int, int]) – Sequence of (enc0, enc1, enc2) where enc0, enc1, and enc2 refer to wrist encoder values on the first, second, and third joint, respectively
out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the wrist end-effector orientation about the first, second, and third wrist joints (in [rad]).

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 any element of enc is not implicitly convertible to a C int.
IndexError – If len(enc) < 3.
TypeError – If enc is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3
forcedimension_core.containers.numpy.Vec3
forcedimension_core.dhd.expert.direct.wristEncodersToJointAngles()
forcedimension_core.dhd.expert.direct.wristOrientationToEncoder()
forcedimension_core.dhd.expert.direct.wristJointAnglesToEncoders()

forcedimension_core.dhd.expert.direct.wristEncodersToJointAngles(enc: Array[int, int], out: SupportsPtrs3[c_double], ID: int = -1) → int[source]

This routine computes and returns the wrist joint angles (in [rad]) for a given set of encoder values.

Parameters:

enc (Array[int, int]) – Sequence of (enc0, enc1, enc2) where enc0, enc1, and enc2 refer to encoder values on wrist axes 0, 1, and 2, respectively.
out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the joint angles (in [rad]) about wrist joint axes 0, 1, and 2.
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 any element of enc is not implicitly convertible to a C int.
IndexError – If len(enc) < 3.
TypeError – If enc is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3
forcedimension_core.containers.numpy.Vec3
forcedimension_core.dhd.expert.direct.wristJointAnglesToJacobian()
forcedimension_core.dhd.expert.direct.wristJointTorquesExtrema()
forcedimension_core.dhd.expert.direct.wristJointAnglesToEncoders()

forcedimension_core.dhd.expert.direct.wristJointAnglesToEncoders(joint_angles: Array[int, float], out: SupportsPtrs3[c_int], ID: int = -1) → int[source]

This routine computes and returns the wrist encoder values for a given set of wrist joint angles (in [rad]).

Parameters:

enc (Array[int, float]) – Sequence of (j0, j1, j1) where j0, j1, and j2 refer to wrist joint angles (in [rad]) for axes 0, 1, and 2, respectively.
out (Array[int, int]) – An output buffer to store the wrist encoder values.
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_int] types.
ctypes.ArgumentError – If any element of joint_angles is not implicitly convertible to a C double.
IndexError – If len(joint_angles) < 3.
TypeError – If joint_angles is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Enc3
forcedimension_core.containers.numpy.Enc3
forcedimension_core.dhd.expert.direct.wristJointAnglesToJacobian()
forcedimension_core.dhd.expert.direct.wristEncodersToJointAngles()

forcedimension_core.dhd.expert.direct.wristJointAnglesToJacobian(joint_angles: Array[int, float], out: SupportsPtr[c_double], ID: int = -1) → int[source]

Retrieve the 3x3 jacobian matrix for the wrist structure based on a given joint configuration. Please refer to your device user manual for more information on your device coordinate system.

Parameters:

joint_angles (Array[int, float]) – Sequence of (j0, j1, j2) where j0, j1, and j2 refer to the joint angles for wrist axis 0, 1, and 2, respectively.
out (SupportsPtr[c_double]) – An output buffer to store the wrist jacobian.
ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

AttributeError – If out.ptr is not a valid attribute of out
ctypes.ArgumentError – If out.ptr is not a Pointer[c_double] type.
ctypes.ArgumentError – If any element of joint_angles is not implicitly convertible to a C double.
IndexError – If len(joint_angles) < 3.
TypeError – If joint_angles is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Mat3x3
forcedimension_core.containers.numpy.Mat3x3
forcedimension_core.dhd.expert.direct.wristEncodersToJointAngles()
forcedimension_core.dhd.expert.direct.getWristJointAngles()

forcedimension_core.dhd.expert.direct.wristJointTorquesExtrema(joint_angles: Array[int, float], minq_out: SupportsPtr[c_double], maxq_out: SupportsPtr[c_double], ID: int = -1) → int[source]

Compute the range of applicable wrist joint torques for a given wrist joint angle configuration. Please refer to your device user manual for more information on your device coordinate system.

Parameters:

joint_angles (Array[int, float]) – Sequence of (j0, j1, j2) where j0, j1, j2 refer to the joint angles for wrist axes 0, 1, and 2, respectively.
minq_out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the minimum appliable DELTA joint torques about axes 0, 1, and 2 (in [Nm]).
maxq_out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the maximum appliable DELTA joint torques about axes 0, 1, and 2 (in [Nm]).
ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

ctypes.ArgumentError – If any element of joint_angles is not implicitly convertible to C double.
IndexError – If len(joint_angles) < 3.
TypeError – If joint_angles is not subscriptable.
AttributeError – If minq_out.ptrs is not a valid attribute of minq_out
TypeError – If minq_out.ptrs is not iterable.
ctypes.ArgumentError – If minq_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.
AttributeError – If maxq_out.ptrs is not a valid attribute of maxq_out
TypeError – If maxq_out.ptrs is not iterable.
ctypes.ArgumentError – If maxq_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise.

See also

forcedimension_core.containers.Vec3
forcedimension_core.containers.numpy.Vec3
forcedimension_core.dhd.expert.direct.getJointAngles()
forcedimension_core.dhd.expert.direct.getWristJointAngles()
forcedimension_core.dhd.expert.direct.wristEncodersToJointAngles()
forcedimension_core.dhd.expert.direct.wristJointAnglesToJacobian()
forcedimension_core.dhd.expert.direct.wristJointAnglesToEncoders()

forcedimension_core.dhd.expert.direct.wristMotorToTorque(output: Array[int, int], enc: Array[int, int], out: SupportsPtrs3[c_double], ID: int = -1) → int[source]

This routine computes and returns the torque applied to the wrist end-effector about the, X, Y, and Z axes (in [Nm]) for a given set of motor commands at a given orientation (defined by encoder values)

Note

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

Parameters:

cmd (Array[int, int]) – Sequence of (cmd0, cmd1, cmd2) where cmd0, cmd1, and cmd2 are the axis 0, 1, and 2 DELTA motor commands, respectively.
enc (Array[int, int]) – Sequence of (enc0, enc1, enc2) where enc0, enc1, and enc2 refer to encoder values on axis 0, 1, and 2, respectively.
ID (int) – Device ID (see Support for Multiple Devices section for details).
out (SupportsPtrs3[ctypes.c_double]) – An output buffer to store the torques applied to the wrist about the X, Y, and Z axes (in [Nm]).

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 any element of cmd is not implicitly convertible to a C ushort.
IndexError – If len(cmd) < 3.
TypeError – If cmd is not subscriptable.
ctypes.ArgumentError – If any element of enc is not implicitly convertible to a C int.
IndexError – If len(enc) < 3.
TypeError – If enc is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1, otherwise.

forcedimension_core.containers.numpy.Vec3
forcedimension_core.dhd.expert.direct.wristTorqueToMotor()
forcedimension_core.dhd.expert.direct.wristJointTorquesExtrema()

forcedimension_core.dhd.expert.direct.wristOrientationToEncoder(orientation: Array[int, float], out: SupportsPtrs3[c_int], ID: int = -1) → int[source]

For devices with a wrist structure, compute the encoder values from the individual angle of each joint, starting with the one located nearest to the wrist plate base.

Note

For the forcedimension_core.constants.DeviceType.OMEGA6 and forcedimension_core.constants.DeviceType.OMEGA6_LEFT devices, angles must be expressed with respect to their internal reference frame, which is rotated 45 degrees or π/4 radians about the Y axis. Please refer to your device user manual for more information on your device coordinate system.

Note

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

Parameters:

orientation (Array[int, float]) – Sequence of (oa, ob, og) where oa, ob, and og refer to wrist end effector orientation (in [rad]) around the X, Y, and Z axes, respectively.
out (SupportsPtrs3[ctypes.c_int]) – An output buffer to store the encoder values.
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_int] types.
ctypes.ArgumentError – If any element of orientation is not implicitly convertible to a C double.
IndexError – If len(orientation) < 3.
TypeError – If orientation is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise

See also

forcedimension_core.containers.Enc3
forcedimension_core.containers.numpy.Enc3
forcedimension_core.dhd.expert.direct.wristEncodersToJointAngles()
forcedimension_core.dhd.expert.direct.wristEncodersToOrientation()
forcedimension_core.dhd.expert.direct.wristJointAnglesToEncoders()

forcedimension_core.dhd.expert.direct.wristTorqueToMotor(t: Array[int, float], enc: Array[int, int], out: SupportsPtrs3[c_ushort], ID: int = -1) → int[source]

This routine computes and returns the wrist motor commands necessary to obtain a given torque on the wrist end-effector about the X, Y, and Z axes (in [Nm]) at a given orientation (defined by encoder values)

Note

This feature only applies to the following devices:

forcedimension_core.constants.DeviceType.SIGMA7_RIGHT forcedimension_core.constants.DeviceType.SIGMA7_LEFT

Parameters:

t (Array[int, float]) – Sequence of (t0, t1, t2) where t0, t1, and t2 are the DELTA axis torque commands (in [Nm]) for axes 0, 1, and 2, respectively.
enc (Array[int, int]) – Sequence of (enc0, enc1, enc2) where enc0, enc1, and enc2 refer to encoder values on axis 0, 1, and 2, respectively.
out (SupportsPtrs3[ctypes.c_ushort]) – An output buffer to store the wrist motor commands.
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_ushort] types.
ctypes.ArgumentError – If any element of t is not implicitly convertible to a C double.
IndexError – If len(t) < 3.
TypeError – If t is not subscriptable.
ctypes.ArgumentError – If any element of enc is not implicitly convertible to a C int.
IndexError – If len(enc) < 3.
TypeError – If enc is not subscriptable.
ctypes.ArgumentError – If ID is not implicitly convertible to a C char.

Returns:

0 on success, -1 otherwise

See also

forcedimension_core.containers.Mot3
forcedimension_core.containers.numpy.Mot3
forcedimension_core.dhd.expert.direct.wristTorqueToMotor()