Force & Haptic Messages

Force/torque sensing and haptic feedback types for manipulation and human-robot interaction.

from horus import WrenchStamped, ForceCommand, ContactInfo, HapticFeedback

WrenchStamped

6-DOF force/torque measurement with timestamp.

wrench = horus.WrenchStamped(
    fx=0.5, fy=0.0, fz=-9.81,
    tx=0.0, ty=0.1, tz=0.0,
    timestamp_ns=horus.timestamp_ns(),
)

Field	Type	Default	Description
`fx`, `fy`, `fz`	`float`	`0.0`	Force components (N)
`tx`, `ty`, `tz`	`float`	`0.0`	Torque components (Nm)
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

ForceCommand

Force/torque command for impedance or force control.

cmd = horus.ForceCommand(
    fx=0.0, fy=0.0, fz=-5.0,
    tx=0.0, ty=0.0, tz=0.0,
    timeout=1.0,
    timestamp_ns=horus.timestamp_ns(),
)

Field	Type	Default	Description
`fx`, `fy`, `fz`	`float`	`0.0`	Force components (N)
`tx`, `ty`, `tz`	`float`	`0.0`	Torque components (Nm)
`timeout`	`float`	`0.0`	Command timeout (seconds)
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

ContactInfo

Contact state information.

contact = horus.ContactInfo(state=1, contact_force=2.5, confidence=0.9, timestamp_ns=horus.timestamp_ns())

Field	Type	Default	Description
`state`	`int`	`0`	Contact state code
`contact_force`	`float`	`0.0`	Contact force magnitude (N)
`confidence`	`float`	`0.0`	Detection confidence
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

ImpedanceParameters

Impedance control parameters (stiffness, damping). Created with no parameters — read via getters.

imp = horus.ImpedanceParameters()

# Read-only getters
imp.stiffness     # list[float]
imp.damping       # list[float]
imp.inertia       # list[float]
imp.force_limits  # list[float]
imp.enabled       # bool

Getter	Type	Description
`stiffness`	`list[float]`	Stiffness values per axis
`damping`	`list[float]`	Damping values per axis
`inertia`	`list[float]`	Inertia values per axis
`force_limits`	`list[float]`	Force limits per axis
`enabled`	`bool`	Whether impedance control is enabled

HapticFeedback

Haptic feedback command for teleoperation.

haptic = horus.HapticFeedback(
    vibration_intensity=0.8,
    vibration_frequency=100.0,
    duration_seconds=0.05,
    pattern_type=0,
)

Field	Type	Default	Description
`vibration_intensity`	`float`	`0.0`	Vibration intensity (0.0-1.0)
`vibration_frequency`	`float`	`0.0`	Vibration frequency (Hz)
`duration_seconds`	`float`	`0.0`	Duration in seconds
`pattern_type`	`int`	`0`	Haptic pattern type

TactileArray

Tactile sensor array (e.g., fingertip pressure grid).

tactile = horus.TactileArray(rows=4, cols=4)

Field	Type	Default	Description
`rows`	`int`	`0`	Number of rows
`cols`	`int`	`0`	Number of columns