Version: latest

HaplyHardwareAPI

Python Implementation of the Haply Hardware API

class HaplyHardwareAPI.Handle

Bases: pybind11_object

The versegrip handle class

GetVersegripStatus(self: HaplyHardwareAPI.Handle)

Get the most recent Versegrip informations

OnReceiveHandleErrorResponse(self: HaplyHardwareAPI.Handle, device_id: int, error_code: int)

OnReceiveHandleErrorResponse

OnReceiveHandleInfo(self: HaplyHardwareAPI.Handle, tool_data_remaining: int, device_id: int, device_model_number: int, hardware_version: int, firmware_version: int)

OnReceiveHandleInfo

OnReceiveHandleStatusMessage(self: HaplyHardwareAPI.Handle, device_id: int, quaternion: float, error_flag: int, hall_effect_sensor_level: int, user_data_length: int, user_data: int)

OnReceiveHandleStatusMessage

Receive(*args, **kwargs)

Overloaded function.

Receive(self: HaplyHardwareAPI.Handle) -> int

Receive data from the handle

Receive(self: HaplyHardwareAPI.Handle, obsolete: int) -> int

[DEPRECATED] Receive current and return current

Receive(self: HaplyHardwareAPI.Handle) -> int

Receive data from the handle

RequestStatus(self: HaplyHardwareAPI.Handle)

request handle status

SendDeviceWakeup(self: HaplyHardwareAPI.Handle)

SendHandleState(self: HaplyHardwareAPI.Handle, device_id: int = 0, data_length: int = 0, user_data: int = None)

send handle state

class HaplyHardwareAPI.Inverse3

Bases: pybind11_object

Inverse3 Device Class

ReceiveCurrent(self: HaplyHardwareAPI.Inverse3, current: list[float] = [0.0, 0.0, 0.0])

receive current and return current

ReceiveDeviceInfo(self: HaplyHardwareAPI.Inverse3)

Receive device info and return a tuple with the following fields:

device_id (uint16_t)

device_model_num (uint8_t)

hardware_version (uint8_t)

firmware_version (uint8_t)

device_id_ext (UUID)

ReceiveJointState(self: HaplyHardwareAPI.Inverse3, joint_position: list[float] = [0.0, 0.0, 0.0], joint_velocity: list[float] = [0.0, 0.0, 0.0])

[Deprecated] receive joint state and return position and velocity in the joint reference frame

ReceiveState(self: HaplyHardwareAPI.Inverse3, position: list[float] = [0.0, 0.0, 0.0], velocity: list[float] = [0.0, 0.0, 0.0])

[Deprecated] receive state and return position and velocity

RequestCurrent(self: HaplyHardwareAPI.Inverse3)

request current

SendAngle(self: HaplyHardwareAPI.Inverse3, angle: list[float] = [0.0, 0.0, 0.0])

Send angles to the device

SendDeviceWakeup(self: HaplyHardwareAPI.Inverse3)

[DEPRECATED] Send a device wakeup command

SendForce(*args, **kwargs)

Overloaded function.

SendForce(self: HaplyHardwareAPI.Inverse3, force: list[float] = [0.0, 0.0, 0.0]) -> None

[Deprecated] Send force to the device

SendForce(self: HaplyHardwareAPI.Inverse3, ForceX: float = 0, ForceY: float = 0, ForceZ: float = 0) -> None

[Deprecated] Send force to the device

SendJointTorques(self: HaplyHardwareAPI.Inverse3, joint_torque: list[float] = [0.0, 0.0, 0.0])

[Deprecated] send joint torque

SendPosition(self: HaplyHardwareAPI.Inverse3, position: list[float] = [0.0, 0.0, 0.0])

[Deprecated] Send Position to the device

device_wakeup(self: HaplyHardwareAPI.Inverse3)

Wakeup the device and return the device info as a tuple.

device_wakeup_dict(self: HaplyHardwareAPI.Inverse3)

Wakeup the device and return the device info as a dict.

end_effector_force(self: HaplyHardwareAPI.Inverse3, force request vector: list[float] = [0.0, 0.0, 0.0])

Send forces to the device and receive device states

end_effector_position(self: HaplyHardwareAPI.Inverse3, position request vector: list[float] = [0.0, 0.0, 0.0])

Send end-effector position and receive device states

get_device_id(self: HaplyHardwareAPI.Inverse3)

Receive the UUID of the device.

get_device_orientation(self: HaplyHardwareAPI.Inverse3)

Receive the orientation of the base of the device.

get_firmware_version(self: HaplyHardwareAPI.Inverse3)

Receive the firmware version of the device.

get_motor_currents(self: HaplyHardwareAPI.Inverse3)

Receive the motor currents of the device.

get_power_status(self: HaplyHardwareAPI.Inverse3)

Receive the power status of the device.

get_temperature(self: HaplyHardwareAPI.Inverse3)

Receive the temperature of the device.

joint_angles(self: HaplyHardwareAPI.Inverse3, joint angle request vector: list[float] = [0.0, 0.0, 0.0])

Send joint angles to the device and receive the joint states

joint_torques(self: HaplyHardwareAPI.Inverse3, joint torque request vector: list[float] = [0.0, 0.0, 0.0])

Send joint torques to the device and receive the joint states