netft_py

This is a Python API for RDT communication with ATI Force/Torque sensors using Net-F/T interface boxes. This library supports requesting single measurements, streaming measurements, taring the sensor, and gravity compensation.

Installation

Install via pip install -e . from repository root.

Usage

from netft_py import NetFT

netft = NetFT(ip="192.168.1.33")

The NetFT class can be used to get individual measurements or continuously stream:

Individual Measurements:

wrench = netft.getMeasurement()  # Get single measurement
wrenches = netft.getMeasurements(n=5)  # Get multiple measurements

force = netft.getForce() # Get only force component
torque = netft.getTorque() # Get only torque component

Streaming Measurements:

netft.startStreaming()

# Then read the latest wrench feedback using the following:
wrench = netft.measurement()

In practice, the data comes in at ~500Hz.

Taring the sensor:

netft.tare(n=100)  # Tare using 100 samples

To "reset" the tare and return to raw measurements:

netft.zero()

Scripts:

You can use the vis_netft.py script in the scripts/ folder to visualize wrench data in real-time.

python scripts/vis_netft.py 192.168.1.33

Credit

This library forks and modifies code from the NetFT repository by Cameron Devine.