GRID Docs | General Robotics

from grid_sim_client.isaac import WrenchClient

A Zenoh client for publishing and receiving wrench messages over Zenoh topics. Wrenches are commonly received from contact sensors, and published to end effectors that need to apply a force or torque.

Fields

numpy.ndarray

Current force as [x, y, z]

numpy.ndarray

Current torque as [x, y, z]

bool

Whether wrenches are relative to current position

bool

Whether wrench commands block until complete

Constructor

Signature

WrenchClient(
    *,
    client_dict: dict,
    agent_dict: Optional[dict] = None,
    shared_session: Any = None,
)

Initialize the wrench client.

dict

required

Configuration dictionary for the client

dict, optional

Dictionary of agent parameters. Defaults to None.

Optional shared Zenoh session. Defaults to None.

Methods

`getLatestMessage()`

Signature

getLatestMessage() -> Any

Return the most recent message from the subscription queue. Blocks for up to one second waiting for a message. Returns: The raw payload bytes of the latest message, or None if no message was received within the timeout.

`get_force()`

Signature

get_force() -> Optional[np.ndarray]

Get the current force. Returns: numpy.ndarray: Current force as [x, y, z]

`get_torque()`

Signature

get_torque() -> Optional[np.ndarray]

Get the current torque. Returns: numpy.ndarray: Current torque as [x, y, z]

`get_wrench()`

Signature

get_wrench() -> Optional[tuple]

Get the latest wrench message. Returns: tuple: (force, torque) as numpy arrays or None

`msg_cb()`

Signature

msg_cb(sample: Any) -> None

Handle an incoming Zenoh sample by storing its payload in the queue.

required

The Zenoh sample received from the subscription.

`process_latest_msg()`

Signature

process_latest_msg() -> None

Process the latest received wrench message.

`publish()`

Signature

publish(data: bytes) -> None

Publish data to the topic.

required

Raw bytes to publish on the configured topic.

`publish_wrench()`

Signature

publish_wrench(force: np.ndarray, torque: np.ndarray) -> None

Publish a wrench message.

array-like

required

Force as [x, y, z]

array-like

required

Torque as [x, y, z]

`run()`

Signature

run() -> None

Start the client by declaring a subscriber or publisher on the session.

`stop()`

Signature

stop() -> None

Undeclare the subscriber and close the owned Zenoh session if any.

​Fields

​Constructor

​Methods

​getLatestMessage()

​get_force()

​get_torque()

​get_wrench()

​msg_cb()

​process_latest_msg()

​publish()

​publish_wrench()

​run()

​stop()

Fields

Constructor

Methods

`getLatestMessage()`

`get_force()`

`get_torque()`

`get_wrench()`

`msg_cb()`

`process_latest_msg()`

`publish()`

`publish_wrench()`

`run()`

`stop()`