Metadata-Version: 2.1
Name: bota-tactile-sensing-utils
Version: 0.0.3
Summary: Python bindings for the Bota Tactile Sensing Utils C++ library
Author-Email: Raul Cruz-Oliver <support@botasys.com>
Classifier: License :: OSI Approved :: BSD License
Project-URL: Homepage, https://botasys.com
Requires-Python: >=3.9
Requires-Dist: bota-control<2.0.0,>=1.0.0
Description-Content-Type: text/markdown

# Bota Tactile Sensing Utils Python bindings

Python bindings for the Bota Tactile Sensing Utils C++ library: **BotaContactPoint**.

```python
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](https://shop.botasys.com/start).
