[feat] Added parameter to support get raw data of the Six-axis Force Torque Sensor

Author: vimior

README.md

@@ -41,6 +41,7 @@ xArm Python SDK
 
 ## Update Summary
 - > ### 1.16.0
+ - Added parameter to support get raw data of the Six-axis Force Torque Sensor
  - Added an interface to control xArm Gripper G2
  - Optimize the interface for controlling BIO Gripper G2
  - Extend the get_joint_states interface

ReleaseNotes.md

@@ -3,6 +3,7 @@
 ## Update Summary
 
 - > ### 1.16.0
+ - Added parameter to support get raw data of the Six-axis Force Torque Sensor
  - Added an interface to control xArm Gripper G2
  - Optimize the interface for controlling BIO Gripper G2
  - Extend the get_joint_states interface

doc/api/xarm_api.md

@@ -724,13 +724,14 @@ xArm-Python-SDK API Documentation (V1.16.0): class XArmAPI in module xarm.wrappe
 >         [21] xe_limit: 6d vector. for compliant axes, these values are the maximum allowed tcp speed along/about the axis. mm/s
 
 
-#### def __get_ft_sensor_data__(self):
+#### def __get_ft_sensor_data__(self, is_raw=False):
 
 > Get the data of the Six-axis Force Torque Sensor 
 > Note: 
 >     1. only available if firmware_version >= 1.8.3 
 >     2. the Six-axis Force Torque Sensor is required (the third party is not currently supported) 
 >  
+> :param is_raw: get the raw data or not. 
 > :return: tuple((code, exe_ft)) 
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details. 
 >     ft_data: only when code is 0, the returned result is correct. 

xarm/core/wrapper/uxbus_cmd.py

@@ -1207,8 +1207,11 @@ def ft_sensor_app_set(self, app_code):
  def ft_sensor_app_get(self):
  return self.get_nu8(XCONF.UxbusReg.FTSENSOR_GET_APP, 1)
 
- def ft_sensor_get_data(self, is_new=True):
- return self.get_nfp32(XCONF.UxbusReg.FTSENSOR_GET_DATA if is_new else XCONF.UxbusReg.FTSENSOR_GET_DATA_OLD, 6)
+ def ft_sensor_get_data(self, is_new=True, is_raw=False):
+ if is_new and is_raw:
+ return self.get_nfp32_with_datas(XCONF.UxbusReg.FTSENSOR_GET_DATA, [1], 1, 6)
+ else:
+ return self.get_nfp32(XCONF.UxbusReg.FTSENSOR_GET_DATA if is_new else XCONF.UxbusReg.FTSENSOR_GET_DATA_OLD, 6)
 
  def ft_sensor_get_config(self):
  ret = self.get_nu8(XCONF.UxbusReg.FTSENSOR_GET_CONFIG, 280)

xarm/wrapper/xarm_api.py

@@ -3357,19 +3357,20 @@ def ft_sensor_app_get(self):
  """
  return self._arm.ft_sensor_app_get()
 
- def get_ft_sensor_data(self):
+ def get_ft_sensor_data(self, is_raw=False):
  """
  Get the data of the Six-axis Force Torque Sensor
  Note:
  1. only available if firmware_version >= 1.8.3
  2. the Six-axis Force Torque Sensor is required (the third party is not currently supported)
 
+ :param is_raw: get the raw data or not.
  :return: tuple((code, exe_ft))
  code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
  ft_data: only when code is 0, the returned result is correct.
  Note: The external force detection value of the Six-axis Force Torque Sensor after filtering, load and offset compensation
  """
- return self._arm.get_ft_sensor_data()
+ return self._arm.get_ft_sensor_data(is_raw=is_raw)
 
  def get_ft_sensor_config(self):
  """

xarm/x3/ft_sensor.py

@@ -190,8 +190,9 @@ def ft_sensor_app_get(self):
  return self._check_code(ret[0]), ret[1]
 
  @xarm_is_connected(_type='get')
- def get_ft_sensor_data(self):
- ret = self.arm_cmd.ft_sensor_get_data(self.version_is_ge(1, 8, 3))
+ def get_ft_sensor_data(self, is_raw=False):
+ is_raw = is_raw if self.version_is_ge(2, 6, 109) else False
+ ret = self.arm_cmd.ft_sensor_get_data(self.version_is_ge(1, 8, 3), is_raw)
  return self._check_code(ret[0]), ret[1:7]
 
  @xarm_is_connected(_type='get')