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-payload-utils

Usage Examples

We provide a demo to get yourself started with the Python Payload Utilities.

What you'll find in the examples:

• Estimator and Compensator setup and configuration
• Real-time pipeline setup in Python
• Integration patterns and best practices

→ Python Demo Repository ←

API description

BotaPayloadCompensator

Compensates force/torque measurements for the effects of payload mass and gravity.

class BotaPayloadCompensator(config_path: str)

Initializes the compensator from a JSON configuration file.

update(timestamp: float, wrench_imu_raw: np.ndarray, wrench_imu_compensated: np.ndarray) → BotaControlReturnCode

Computes compensated output from raw input. Result is written into wrench_imu_compensated in-place.

tare_compensated_wrench() → bool

Zeros the compensated wrench output by computing and applying current offsets.

BotaPayloadEstimator

Estimates payload properties (mass, center of mass) from force/torque measurements.

class BotaPayloadEstimator(config_path: str)

Initializes the estimator from a JSON configuration file.

update(timestamp: float, wrench_imu_raw: np.ndarray) → BotaControlReturnCode

Feeds new raw data into the estimation algorithm.

start_payload_estimation() → bool

Starts the payload estimation process.

is_estimator_running() → bool

Returns True if estimation is currently in progress.

is_estimation_successful() → bool

Returns True if the last estimation completed successfully.