Python wrapper for the OpenHaptics HD library to use the haptic device directly from Python. Used to control the 3dSystems devices (Touch/Touch X) directly from Python.
This library requires from the pre-installation of the OpenHaptics libraries and Touch X drivers. For this please follow their official installation tutorial for Linux or Windows.
OpenHaptics in Linux requires from additional libraries. You can use the following command to install them.
sudo apt-get update && sudo apt-get upgrade
sudo apt-get install libncurses5-dev freeglut3 build-essentialUse the latest version from the PyPi project.
python3 -m pip install pyOpenHapticsThe library contains multiple functionalities to get and set different variables. Most of the functionalities are gathered into 3 different files hd.py, hd_callback.py and hd_device.py. The first file contains a Python mimic of most of the OpenHaptics HD library main functions. The second file contains the schedulers and a python wrapper to wrap your python callback function into a C callback function to interact with the already compiled shared library. Lastly, this defines the Python class to initialize your Haptic hardware and interface.
Here is a small template on how to setup your callback loop and your haptic device to gather the desired information from the device.
import pyOpenHaptics.hd as hd
from pyOpenHaptics.hd_callback import hd_callback
from pyOpenHaptics.hd_device import HapticDevice
from dataclasses import dataclass
# Data class to keep track of the device state and use it in other parts of the code
@dataclass
class DeviceState:
# Define the variables you want to safe here
# Callback to gather the device state
@hd_callback
def device_callback():
# Make the device_state global to be accesed in other parts of the code
global device_state
# your callback function, gather the different variables on the device
# YOUR CODE HERE
if __name__ == "__main__":
# Initialize the data class
device_state = DeviceState()
# Initialize the haptic device and the callback loop
device = HapticDevice(callback = device_callback, scheduler_type="async")
# YOUR CODE HERE
# Close the device to avoid segmentation faults
device.close()You can find more complex examples here