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.