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pyNetFT: Python interface for the ATI Force/Torque Sensor with Net F/T

PyPI version Python version Github License

This is a Python interface for the ATI force/torque sensor with Net F/T. It allows you to read the force and torque data from the sensor in real-time.

Installation

To install the package, run the following command:

pip install pynetft

Or you can install it from the source code:

git clone https://github.com/han-xudong/pyNetFT.git
cd pyNetFT
pip install .

Usage

Here is an example of how to use the package:

from pynetft import NetFT

netft = NetFT(
    host='192.168.1.1', 
    port=49152,
    count_per_force=1000000,
    count_per_torque=999.999,
)

where host is the IP address of your Net F/T device, port is the port number (default is 49152), count_per_force is the conversion factor for force data, and count_per_torque is the conversion factor for torque data. count_per_force and count_per_torque can be found in the sensor's configuration page on host.

Several functions are provided to interact with the sensor:

  • connect(): Connect to the sensor.
netft.connect()
  • disconnect(): Disconnect from the sensor.
netft.disconnect()
  • bias(): Set the software bias, which is used to zero the sensor readings.
netft.bias()
  • get_data(): Get the force and torque data once.
data = netft.get_data()
print(data.FTData)  # Print the force and torque data
  • get_converted_data(): Read and return the force and torque data from the sensor.
data = netft.get_converted_data()
print(data.FTData)  # Print the force and torque data
  • start_streaming(): Continuously read and print data from the sensor for a specified duration (in seconds).
netft.start_streaming(duration=10, delay=0.1, print_data=True)

License

This project is licensed under the MIT LICENSE.

Acknowledgements

This package is based on the C example provided by ATI. You can find the original code here.