Force & Haptic Messages

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

# simplified
from horus import WrenchStamped, ForceCommand, ContactInfo, HapticFeedback

WrenchStamped

6-DOF force/torque measurement with timestamp.

# simplified
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

Static Methods:

Method	Returns	Description
`WrenchStamped.force_only(force)`	`WrenchStamped`	Create from a `Vector3` force (zero torque)
`WrenchStamped.torque_only(torque)`	`WrenchStamped`	Create from a `Vector3` torque (zero force)

Methods:

Method	Returns	Description
`force_magnitude()`	`float`	L2 norm of force vector
`torque_magnitude()`	`float`	L2 norm of torque vector
`exceeds_limits(max_force, max_torque)`	`bool`	True if force or torque exceeds limits
`filter(prev, alpha)`	`None`	Low-pass filter with previous reading (mutates self)

ForceCommand

Force/torque command for impedance or force control.

# simplified
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_seconds`	`float`	`0.0`	Command timeout (seconds). Constructor param: `timeout`
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

Static Methods:

Method	Returns	Description
`ForceCommand.force_only(target)`	`ForceCommand`	Create from a `Vector3` target force
`ForceCommand.surface_contact(normal_force, normal)`	`ForceCommand`	Create a surface contact command

Methods:

Method	Returns	Description
`with_timeout(seconds)`	`ForceCommand`	Return a copy with timeout set

ContactInfo

Contact state information.

# simplified
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
`stiffness`	`float`	`0.0`	Contact stiffness
`damping`	`float`	`0.0`	Contact damping
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

Method	Returns	Description
`is_in_contact()`	`bool`	True if currently in contact
`contact_duration_seconds()`	`float`	Duration of current contact in seconds

ImpedanceParameters

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

# simplified
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
`timestamp_ns`	`int`	Timestamp in nanoseconds

Static Methods:

Method	Returns	Description
`ImpedanceParameters.compliant()`	`ImpedanceParameters`	Create compliant (soft) parameters
`ImpedanceParameters.stiff()`	`ImpedanceParameters`	Create stiff (rigid) parameters

Methods:

Method	Returns	Description
`enable()`	`None`	Enable impedance control
`disable()`	`None`	Disable impedance control

HapticFeedback

Haptic feedback command for teleoperation.

# simplified
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
`enabled`	`bool`	`False`	Whether haptic feedback is enabled
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

Static Methods:

Method	Returns	Description
`HapticFeedback.vibration(intensity, frequency, duration)`	`HapticFeedback`	Create a vibration effect
`HapticFeedback.force(force, duration)`	`HapticFeedback`	Create a force feedback effect (force is a `Vector3`)
`HapticFeedback.pulse(intensity, frequency, duration)`	`HapticFeedback`	Create a pulsing vibration

TactileArray

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

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

Field	Type	Default	Description
`rows`	`int`	`0`	Number of rows
`cols`	`int`	`0`	Number of columns
`forces`	`list[float]`	—	Raw force values (rows * cols elements)
`total_force`	`list[float]`	—	Total force vector (3 elements: x, y, z)
`center_of_pressure`	`list[float]`	—	Center of pressure (2 elements: x, y)
`in_contact`	`bool`	—	Whether any cell is in contact
`physical_size`	`list[float]`	—	Physical dimensions (2 elements: width, height in meters)
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

Method	Returns	Description
`get_force(row, col)`	`float` or `None`	Get force at a specific cell
`set_force(row, col, force)`	`None`	Set force at a specific cell

Force & Haptic Messages

WrenchStamped

ForceCommand

ContactInfo

ImpedanceParameters

HapticFeedback

TactileArray

See Also