atiiaftt - ATI-IA force-torque transforms
Python interface to ATI-IA force-torque transform (ATIDAQ) C library, v1.0.7. For use with ATI Industrial Automation force-torque sensors.
This package does not read from hardware. Another package, such as NI-DAQmx, must be used for that purpose.
ATIDAQ C Library is available at https://www.ati-ia.com/library/software/daq_ft/ATIDAQ%20C%20Library.zip
Installation
pip install atiiaftt
Dependencies
CFFI and platform appropriate build tools are required to build the C source that is included with the package.
For Linux distributions, install the developer package group.
For Windows, see https://wiki.python.org/moin/WindowsCompilers
Documentation
Module help for the python classes is available via docstrings. Documentation for the wrapped functions is available in ATIDAQ_c_lib/readme.txt
Usage examples
High level usage is as follows:
- import atiiaftt
- Create an instance of the atiiafft.FTsensor class
- Load calibration data, either passing the calibration file path as a string during class instantiation or as a parameter while calling instance.createCalibration('./FT18766cal').
-
- Optionally, set the tool transform, bias values and units as needed, eg)
-
- instance.setToolTransform([0,0,20,45,0,0],atiiaftt.FTUnit.DIST_MM,atiiaftt.FTUnit.ANGLE_DEG)
- instance.bias([0.254,-1.027,0.025,0.7422.0.9302,-0.230,0.082])
- Call the force-torque conversion function: instance.convertToFt([0.042,1.004,0.952,-0.235,0.091,1.091,0.054]); this returns the forces and torques as a list [F.x,F.y,F.z,T.x,T.y,T.z]. The last transformed values are stored in the instance variable instance.ft_vector for later access.
CFFI and python class examples found in 'atiiaftt/samples/ftconvert.py'
