Python API

Getting Started

The Haply Hardware API is a Python package that provides a Python interface to the Haply hardware. The API is implemented in C++ and wrapped using pybind11. The API provides a Python interface to the Haply hardware, including the Haply Versegrip and the Haply Inverse3.

Installation

The Haply Hardware API is available as a Python package on PyPI. To install the package, use pip:

pip install HaplyHardwareAPI

Usage

Samples of how to use the Haply Hardware API are available in the Gitlab sample repository.

As an example, the following code snippet demonstrates how to use the Haply Hardware API to connect to an Inverse3 and simulate a virtual physical ball:

#!/usr/bin/env python

"""This example demonstrates how to display a haptic ball """

__author__ = "Antoine Weill--Duflos"
__copyright__ = "Copyright 2023, HaplyRobotics"

import HaplyHardwareAPI
import time
import math
connected_devices = HaplyHardwareAPI.detect_inverse3s()
com_stream = HaplyHardwareAPI.SerialStream(connected_devices[0])
inverse3 = HaplyHardwareAPI.Inverse3(com_stream)
response_to_wakeup = inverse3.device_wakeup_dict()
print("connected to device {}".format(response_to_wakeup["device_id"]))
start_time = time.perf_counter()
loop_time = 0.001  # 1ms
forces = [0, 0, 0]


def force_sphere(sphere_center, sphere_radius, device_position, stiffness):
    distance = math.sqrt(
        sum([(device_position[i] - sphere_center[i])**2 for i in range(3)]))
    if distance > sphere_radius:
        return [0, 0, 0]
    else:
        # Compute the normalised direction of the forces
        direction = [(device_position[i] - sphere_center[i])/sphere_radius
                     for i in range(3)]
        # Compute the force
        force = [direction[i]*(sphere_radius-distance)
                 * stiffness for i in range(3)]
        return force


while True:
    position, velocity = inverse3.end_effector_force(forces)
    forces = force_sphere([0, -0.14, 0.2], 0.08, position, stiffness=800)
    print("position: {}".format(position))
    while time.perf_counter() - start_time < loop_time:  # wait for loop time to be reached
        pass
    start_time = time.perf_counter()