forcedimension_core.drd.direct module

forcedimension_core.drd.direct.getPositionAndOrientation(p_out: SupportsPtrs3[c_double], o_out: SupportsPtrs3[c_double], pg_out: c_double, matrix_out: SupportsPtr[c_double], ID: int = -1) → int[source]

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

Note

Unlike forcedimension_core.dhd.getPositionAndOrientation(), this function returns immediately. It loads from an internal buffer that is refreshed by the robotic control loop. For more information about regulation see Regulation.

Parameters:

p_out (SupportsPtrs3[ctypes.c_double]) – Output buffer to store the end-effector position (in [m]).
o_out (SupportsPtrs3[ctypes.c_double]) – Output buffer to store the angle of each joint (in [rad]).
pg_out (ctypes.c_double) – Output buffer to store the gripper opening gap (in [m]).
matrix_out (MutableFloatMatrixLike) – Output buffer to store the orientation matrix.
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
AttributeError – If o_out.ptrs is not a valid attribute of o_out
AttributeError – If matrix_out.ptrs is not a valid attribute of matrix_out
TypeError – If p_out.ptrs is not iterable.
TypeError – If o_out.ptrs is not iterable.
ctypes.ArgumentError – If p_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.
ctypes.ArgumentError – If o_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.
ctypes.ArgumentError – If matrix_out.ptr is not a Pointer[c_double] type
ctypes.ArgumentError – If pg_out is not a c_double type.
ctypes.ArgumentError – If ID is not implicitly convertible to a C int.

Returns:

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

See also

forcedimension_core.containers.Vec3
forcedimension_core.containers.Mat3x3
forcedimension_core.containers.numpy.Vec3
forcedimension_core.containers.numpy.Mat3x3

forcedimension_core.drd.direct.getVelocity(v_out: SupportsPtrs3[c_double], w_out: SupportsPtrs3[c_double], vg_out: c_double, ID: int = -1) → int[source]

Retrieve the linear velocity of the end-effector (in [m/s]) as well as the angular velocity (in [rad/s]) about the X, Y, and Z axes. Please refer to your device user manual for more information on your device coordinate system.

Note

Unlike forcedimension_core.dhd.getLinearVelocity(), forcedimension_core.dhd.getAngularVelocityRad(), and forcedimension_core.dhd.getAngularVelocityDeg() this function returns immediately. It loads from an internal buffer that is refreshed by the robotic control loop. For more information about regulation see Regulation.

Parameters:

ID (int) – Device ID (see Support for Multiple Devices section for details)
v_out (SupportsPtrs3[ctypes.c_double]) – Output buffer for the linear velocity (in [m/s]).
w_out (SupportsPtrs3[ctypes.c_double]) – Output buffer for the angular velocity (in [rad/s]).
vg_out (SupportsPtrs3[ctypes.c_double]) – Output buffer for the gripper linear velocity (in [m/s]).

Raises:

AttributeError – If v_out.ptrs is not a valid attribute of v_out
AttributeError – If w_out.ptrs is not a valid attribute of w_out
TypeError – If p_out.ptrs is not iterable.
TypeError – If o_out.ptrs is not iterable.
ctypes.ArgumentError – If p_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.
ctypes.ArgumentError – If o_out.ptrs does not expand into a tuple of 3 Pointer[c_double] types.
ctypes.ArgumentError – If pg_out is not a c_double type.
ctypes.ArgumentError – If ID is not implicitly convertible to a C int.

Returns:

0 on success and -1 otherwise.

See also

forcedimension_core.containers.Vec3

forcedimension_core.containers.numpy.Vec3

forcedimension_core.drd.direct.moveTo(pos: SupportsPtr[c_double], block: bool, ID: int = -1)[source]

Send the robot end-effector to a desired Cartesian 7-DOF configuration. The motion uses smooth acceleration/deceleration. The acceleration and velocity profiles can be controlled by adjusting the trajectory generation parameters.

Note

The paths generated by this function are not guarunteed to be continuous if a command is interrupted by another call to this function while still in the process of being executed. If you want to guaruntee continuity use forcedimension_core.drd.track(). For more information see Regulation.

Parameters:

pos (SupportsPtr[ctypes.c_double]) – Buffer of target positions/orientations for each DOF. DOFs 0-2 correspond to position about the X, Y, and Z axes (in [m]). DOFs 3-6 correspond to the target orientation about the first, second and third joints (in [rad]). DOF 7 corresponds to the gripper gap (in [m]).
block (bool) – If True, the call blocks until the destination is reached. If False, the call returns immediately.
ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

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

Returns:

0 on success, and -1 otherwise.

See also

forcedimension_core.containers.DOFFloat
forcedimension_core.containers.numpy.DOFFloat
forcedimension_core.drd.moveToAllEnc()

forcedimension_core.drd.direct.moveToAllEnc(enc: SupportsPtr[c_int], block: bool, ID: int = -1)[source]

Send the robot end-effector to a desired encoder position. The motion follows a straight line in the encoder space, with smooth acceleration/deceleration. The acceleration and velocity profiles can be controlled by adjusting the trajectory generation parameters.

Note

The paths generated by this function are not guarunteed to be continuous if a command is interrupted by another call to this function while still in the process of being executed. If you want to guaruntee continuity use forcedimension_core.drd.trackAllEnc(). For more information see Regulation.

Parameters:

enc (SupportsPtr[ctypes.c_int]) – Target encoder positions.
ID (int) – Device ID (see Support for Multiple Devices section for details).
block (bool) – If True, the call blocks until the destination is reached. If False, the call returns immediately.

Raises:

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

Returns:

0 on success, and -1 otherwise.

See also

forcedimension_core.containers.DOFInt
forcedimension_core.containers.numpy.DOFInt
forcedimension_core.drd.direct.moveTo()

forcedimension_core.drd.direct.track(pos: SupportsPtr[c_double], ID: int = -1)[source]

Send the robot end-effector to a desired Cartesian 7-DOF configuration. If motion filters are enabled, the motion follows a smooth acceleration/deceleration. The acceleration and velocity profiles can be controlled by adjusting the trajectory generation parameters.

Note

For more information see Regulation.

Parameters:

pos (SupportsPtr[ctypes.c_double]) – Buffer of target positions/orientations for each DOF. DOFs 0-2 correspond to position about the X, Y, and Z axes (in [m]). DOFs 3-6 correspond to the target orientation about the first, second and third joints (in [rad]). DOF 7 corresponds to the gripper gap (in [m]).
ID (int) – Device ID (see Support for Multiple Devices section for details).

Raises:

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

Returns:

0 on success, and -1 otherwise.

See also

forcedimension_core.containers.DOFFloat
forcedimension_core.containers.numpy.DOFFloat
forcedimension_core.drd.direct.trackAllEnc()

forcedimension_core.drd.direct.trackAllEnc(enc: SupportsPtr[c_int], ID: int = -1)[source]

Send the robot end-effector to a desired encoder position. If motion filters are enabled, th emotion follows a smooth acceleration/deceleration constraint on each encoder axis. The acceleration and velocity profiles can be controlled by adjusting the trajectory generation parameters.

Note

For more information see Regulation.

Parameters:

enc (SupportsPtr[ctypes.c_int]) – Target encoder positions.
ID (int) – Device ID (see Support for Multiple Devices section for details)

Raises:

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

Returns:

0 on success, and -1 otherwise.

See also

forcedimension_core.containers.DOFInt
forcedimension_core.containers.numpy.DOFInt
forcedimension_core.drd.direct.track()