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CFFI wrap of ATI-IA force-torque sensor transform c library

Project description

Python interface to ATI-IA force-torque transform (ATIDAQ) C library, v1.0.7. For use with ATI Industrial Automation force-torque sensors.

This package does not read from hardware. Another package, such as NI-DAQmx, must be used for that purpose.

ATIDAQ C Library is available at


pip install atiiaftt


CFFI and platform appropriate build tools are required to build the C source that is included with the package.

For Linux distributions, install the developer package group.

For Windows, see


Module help for the python classes is available via docstrings. Documentation for the wrapped functions is available in ATIDAQ_c_lib/readme.txt

Usage examples

High level usage is as follows:

  1. import atiiaftt
  2. Create an instance of the atiiafft.FTsensor class
  3. Load calibration data, either passing the calibration file path as a string during class instantiation or as a parameter while calling instance.createCalibration(‘./FT18766cal’).
  4. Optionally, set the tool transform, bias values and units as needed, eg)
    • instance.setToolTransform([0,0,20,45,0,0],atiiaftt.FTUnit.DIST_MM,atiiaftt.FTUnit.ANGLE_DEG)
    • instance.bias([0.254,-1.027,0.025,0.7422.0.9302,-0.230,0.082])
  5. Call the force-torque conversion function: instance.convertToFt([0.042,1.004,0.952,-0.235,0.091,1.091,0.054]); this returns the forces and torques as a list [F.x,F.y,F.z,T.x,T.y,T.z]. The last transformed values are stored in the instance variable instance.ft_vector for later access.

CFFI and python class examples found in ‘atiiaftt/samples/’

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