Net F/T Viewer is a cross-platform desktop application for inspecting and recording live six-axis data from an ATI Net F/T Ethernet sensor without a ROS installation.
- Shows raw counts and calibrated force and torque in sensor-reported units.
- Switches between one combined plot and six individual panels.
- Tracks connection state, receive rate, packet loss, status, and recording.
- Pauses display and CSV capture without losing connection-health monitoring.
- Records through a bounded buffer with explicit overflow and recovery behavior.
Download the latest installer or portable archive from GitHub Releases.
Verified releases are published as stable releases. Windows packages are unsigned; macOS packages use ad hoc signatures for code integrity and are not notarized. Operating-system policy may require explicit approval before opening the application.
| Platform | Architecture | Artifacts |
|---|---|---|
| Linux | x86-64, ARM64 | .deb, portable .tar.gz |
| Windows | x86-64 | Setup .exe, portable .zip |
| macOS | Intel and Apple silicon | Universal .dmg, universal .zip |
- Connect the computer and sensor to the same trusted network.
- Configure the computer with a compatible IPv4 address.
- Start Net F/T Viewer, enter the sensor address, and select Connect.
- Inspect the live values and health indicators before recording or biasing.
ATI sensors use 192.168.1.1 as their documented factory-default address. Use
the address configured for your device if it has been changed.
Pause freezes the displayed data and suspends CSV acceptance while connection health continues to update. Bias changes the measurement zero; unload or fixture the sensor and make the connected mechanism safe before confirming it.
See CONTRIBUTING.md for development setup and pull-request guidance. Report security issues through SECURITY.md.
Net F/T Viewer is licensed under the Apache License 2.0. Required third-party license and notice texts are distributed in LICENSES.
Viewer 0.2.1 and later write <output>.metadata.json after successful data finalization, using schema version 1 and kind netft-recording. CLI 0.3.0 and later use the same schema and these shared meanings:
| Field | Meaning |
|---|---|
producer, result |
netft-cli or netft-viewer; complete or CLI interrupted after a successful nonempty drain. |
accepted_samples, written_samples |
Samples accepted into the recording queue and rows successfully written. These are not power-loss durability guarantees. |
sample_span_seconds |
Nonnegative host receive-time span between first and last written sample; zero for fewer than two samples. |
configuration_revisions |
Unique revision identifiers in written rows, scoped to the producer session. They do not contain full calibration snapshots. |
force_units, torque_units |
Unique native unit symbols observed in written rows. |
recorded_rdt_gaps |
Sum of forward sequence gaps between written rows, using unsigned wraparound and ignoring backward jumps. Pauses, rate filtering and reconnects can contribute; this is not the SDK packet-loss counter. |
pause_count |
Accepted Viewer pauses; CLI has no pause operation and reports zero. |
reconnect_count |
CLI SDK reconnect counter for the run; null for Viewer because its recorder does not own connection health. |
error |
null on successful finalization. Failure details remain in the CLI error or Viewer recorder state. |
Partial or failed captures do not receive a completed summary. Metadata creation and promotion follow the data file's overwrite policy. The two files are finalized separately: a metadata failure reports an error and preserves the completed data file, and may leave a metadata partial for recovery. Keep both files when archiving a successful capture.
CLI 0.3.0 and later append configuration_revision to CSV without moving existing columns and add it inside the NDJSON sample object. Viewer records revisions in each CSV row. Older releases retain their documented formats.
The application accepts windows down to 800 native pixels wide. A narrower CSS viewport caused by 125%–200% zoom reflows the toolbar and six plots; at 700 CSS pixels or below, the sidebar stacks above a scrollable plot workspace. Keyboard-operable plot controls retain visible focus. Charts expose image labels and live values remain available in the measurement table; connection and recording states use text in addition to color. Layout interaction checks covered Linux scenes at 1440×900 with 100% zoom, 1100×800 with 125%, and 1100×900 with 200%. These layout checks are separate from the cross-platform native build and package startup checks required for release.