Bota Tactile Sensing Utils Python bindings
Python bindings for the Bota Tactile Sensing Utils C++ library: BotaContactPoint.
import numpy as np
from bota_control import BotaControlReturnCode
from bota_tactile_sensing_utils import BotaContactPoint, BotaContactPointConfig
config = BotaContactPointConfig()
config.geometry.dz = 0.02 # [m] distance to the contact surface
config.force_threshold = 0.3 # [N]
contact = BotaContactPoint(config)
wrench = np.array([1.0, 2.0, -10.0, 0.06, 0.32, 0.07], dtype=np.float64)
contact_point = np.zeros(3, dtype=np.float64)
if contact.update(wrench, contact_point) == BotaControlReturnCode.OK and contact.in_contact():
print(contact_point)
For a general start guideline with Bota Systems Force Torque sensors, please refer to the Bota Systems startpage.
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Release files for bota-tactile-sensing-utils 0.0.6
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Total release size: 1.2 MB
Release files / bota_tactile_sensing_utils-0.0.6-cp312-abi3-win_amd64.whl
| Download URL | bota_tactile_sensing_utils-0.0.6-cp312-abi3-win_amd64.whl |
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| Size | 183.2 kB |
| Tags | CPython 3.12 Windows x86-64 abi3 |
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Release files / bota_tactile_sensing_utils-0.0.6-cp312-abi3-manylinux_2_34_x86_64.whl
| Download URL | bota_tactile_sensing_utils-0.0.6-cp312-abi3-manylinux_2_34_x86_64.whl |
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| Size | 149.5 kB |
| Tags | CPython 3.12 Linux glibc 2.34+ x86-64 abi3 |
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Release files / bota_tactile_sensing_utils-0.0.6-cp312-abi3-manylinux_2_34_aarch64.whl
| Download URL | bota_tactile_sensing_utils-0.0.6-cp312-abi3-manylinux_2_34_aarch64.whl |
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| Size | 141.8 kB |
| Tags | CPython 3.12 Linux glibc 2.34+ ARM64 abi3 |
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Release files / bota_tactile_sensing_utils-0.0.6-cp312-abi3-macosx_15_0_arm64.whl
| Download URL | bota_tactile_sensing_utils-0.0.6-cp312-abi3-macosx_15_0_arm64.whl |
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| Size | 108.8 kB |
| Tags | CPython 3.12 abi3 macOS 15.0+ ARM64 |
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Release files / bota_tactile_sensing_utils-0.0.6-cp311-cp311-manylinux_2_34_x86_64.whl
| Download URL | bota_tactile_sensing_utils-0.0.6-cp311-cp311-manylinux_2_34_x86_64.whl |
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| Size | 154.1 kB |
| Tags | CPython 3.11 Linux glibc 2.34+ x86-64 |
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| Download URL | bota_tactile_sensing_utils-0.0.6-cp311-cp311-manylinux_2_34_aarch64.whl |
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| Size | 145.8 kB |
| Tags | CPython 3.11 Linux glibc 2.34+ ARM64 |
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| Download URL | bota_tactile_sensing_utils-0.0.6-cp310-cp310-manylinux_2_34_x86_64.whl |
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| Size | 154.1 kB |
| Tags | CPython 3.10 Linux glibc 2.34+ x86-64 |
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| Download URL | bota_tactile_sensing_utils-0.0.6-cp310-cp310-manylinux_2_34_aarch64.whl |
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| Size | 145.8 kB |
| Tags | CPython 3.10 Linux glibc 2.34+ ARM64 |
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