Python

Download and Installation

The Python driver is available as a PyPI package for easy installation.

Supported platforms:

Linux: x86_64 and aarch64 (Python ≥ 3.10)
Windows: Python ≥ 3.12
macOS: Python ≥ 3.12

Installation using pip:

pip install bota-driver

Usage Examples

We provide a complete set of examples to get yourself started with the Python driver.

What you'll find in the examples:

Basic driver setup and configuration
Data reading from both stream and buffer
Integration patterns and best practices

→ Python Driver Examples Repository ←

API description

Custom data types

DriverState Enum

Represents the internal lifecycle states of the BotaDriver.

class DriverState

UNCONFIGURED – Primary state
INACTIVE – Primary state
ACTIVE – Primary state
FINALIZED – Primary state
CONFIGURING – Transition state
ACTIVATING – Transition state
DEACTIVATING – Transition state
CLEANING_UP – Transition state
SHUTTING_DOWN – Transition state
ERROR_PROCESSING – Transition state

DataStatus Class

Represents the status flags for a single data frame.

class DataStatus

val: int: Combined 16-bit value of the status flags.

throttled: bool: Indicates that the data was rate-limited.

overrange: bool: Indicates that the data exceeded sensor limits.

invalid: bool: Indicates that the data is invalid or corrupt.

raw: bool: Indicates that the data is unprocessed raw sensor output.

BotaFrame Class

Represents a full frame, including status, wrench, imu data, temperature and timestamp.

class BotaFrame(status: DataStatus, force: list[float], torque: list[float], timestamp: int, temperature: float, acceleration: list[float], angular_rate: list[float])

__init__(status: DataStatus, force: list[float], torque: list[float], timestamp: int, temperature: float, acceleration: list[float], angular_rate: list[float]): Constructs a frame

status: DataStatus: Bitfield status information about the frame.

force: list[float]: Force vector [Fx, Fy, Fz] in Newtons.

torque: list[float]: Torque vector [Tx, Ty, Tz] in Newton-meters.

timestamp: int: Timestamp of the frame in microseconds since boot.

temperature: float: Internal temperature in degrees Celsius.

acceleration: list[float]: Linear acceleration [Ax, Ay, Az] in m/s².

angular_rate: list[float]: Angular velocity [Wx, Wy, Wz] in rad/s.

BotaDriver class public interface

class BotaDriver

Constructor and destructor

__init__(config_path)

Constructor initializing the driver using a path to a JSON configuration file.

Parameters:: config_path (str) – Path to the JSON configuration file.

__del__(): Default destructor.

Life cycle management methods

configure()

Transitions the driver from UNCONFIGURED to INACTIVE, passing through the CONFIGURING transition.

Returns:: false if called from the wrong state or transition failed; otherwise, true.
Return type:: bool

activate()

Transitions the driver from INACTIVE to ACTIVE, passing through the ACTIVATING transition.

Returns:: false if called from the wrong state or transition failed; otherwise, true.
Return type:: bool

deactivate()

Transitions the driver from ACTIVE to INACTIVE, passing through the DEACTIVATING transition.

Returns:: false if called from the wrong state or transition failed; otherwise, true.
Return type:: bool

cleanup()

Transitions the driver from INACTIVE to UNCONFIGURED, passing through the CLEANING_UP transition.

Returns:: false if called from the wrong state or transition failed; otherwise, true.
Return type:: bool

shutdown()

Shuts down the driver and releases any associated resources.

Returns:: false if something failed; otherwise, true.
Return type:: bool

User functions

tare()

Computes and applies wrench offsets to zero the output. Can only be called in the INACTIVE state.

Returns:: false if called from the wrong state or something failed; otherwise, true.
Return type:: bool

read_frame()

Returns the most recent available frame. Must be called in the ACTIVE state; otherwise, an error is raised.

Returns:: A BotaFrame object containing the latest sensor data.
Return type:: BotaFrame

read_frame_blocking()

Blocks until a new frame is available, then returns it. Must be called in the ACTIVE state; otherwise, an error is raised.

Returns:: A BotaFrame object containing the newly received sensor data.
Return type:: BotaFrame

Getters

get_driver_state()

Returns the current internal driver state.

Returns:: The current state of the driver.
Return type:: DriverState

get_expected_timestep()

Returns the expected update interval for sensor data.

Returns:: The expected timestep between consecutive sensor data frames.
Return type:: datetime.timedelta

get_driver_version_string()

Returns a string representation of the driver version in the format X.Y.Z.

Returns:: A string representing the driver version.
Return type:: str