Metadata-Version: 2.1
Name: ptc
Version: 0.0.1.dev20200721152952
Summary: Pulse Tool Calibration library
Home-page: https://rozum.com
Author: Rozum Robotics
Author-email: dev@rozum.com
License: Apache License 2.0
Description: 
        # Pulse Tool Calibration Library
        
        Utility library (ptc) and command line interface (ptc-cli) to calculate tool 
        offset for Pulse Robotic Arm.
        
        ## Installation
        
        Standalone library:
        
        `pip3 install -U ptc`
        
        Command line interface and library:
        
        `pip3 install -U ptc-cli`
        
        ## Usage
        Basic usage, assuming that you have followed installation step and installed the
        `ptc-cli` package.
        
        In order to determine the tool offset, you MUST provide at least 4 different 
        positions, that represent the same point in space with tool installed.
        The more points you give the better calibration precision could be achived.
        
        The positions could be obtained using the `get_position()` method from 
        `pulse-api` library and should be provided in a text file in the following 
        order:
        
        `x`, `y`, `z`, `roll`, `pitch`, `yaw`
        
        Each position MUST be on a separate line and the values MUST be separated with
        comas.
        
        Calculation is performed using following command in terminal:
        
        `ptc-cli --file /absolute/path/to/your/positions/file`
        
        The output will be the calculated tool offset:
        
        [`x_offset`, `y_offset`, `z_offset`]
        
        This output could be used in the `change_tool_info` method of the `pulse-api`
        library.
        
        ## Example
        
        Sample file with robot positions located at `/home/user/sample.csv`:
        ```csv
        0.4000000016853294, -0.39999999880983755, 0.3000000025723091, -3.1415926381331523, 2.188741009988131e-08, 2.6794896299132232e-08
        0.4000000029422969, -0.2999999962803114, 0.19999999804274032, 1.5707963642922351, 3.757424773546488e-15, 7.285142337505987e-08
        0.3292893264445241, -0.4707106768261343, 0.2000000019309496, -1.5707963309948643, 0.7853981633974412, -5.0320115533448106e-08
        0.47071067682613615, -0.32928932644452064, 0.19999999806904972, 1.570796322594932, -0.7853981633974498, 5.363765550429646e-08
        ```
        
        Terminal command:
        
        `ptc-cli --file /home/user/sample.csv`
        
        Output:
        
        ```Calculated TCP offset: [0.00027102 0.00027103 0.10055737]```
        
        To get more detailed output:
        
        `ptc-cli --file /home/user/sample.csv --verbose`
        
        Output:
        
        ```
        Calculated TCP offset: [0.00027102 0.00027103 0.10055737]
        More detailed calibration info:
         active_mask: array([0., 0., 0.])
                cost: 5.770939282001564e-13
                 fun: array([5.31035219e-07, 7.68248630e-07, 5.31035183e-07])
                grad: array([1.27999602e-09, 1.28000956e-09, 2.89674021e-09])
                 jac: array([[1.62617755e-03, 3.03639571e-12, 1.11474501e-03],
               [5.42062087e-04, 5.42079840e-04, 2.22948991e-03],
               [1.68880868e-11, 1.62617750e-03, 1.11474494e-03]])
             message: '`gtol` termination condition is satisfied.'
                nfev: 11
                njev: 10
          optimality: 2.8967402130836482e-09
              status: 1
             success: True
                   x: array([0.00027102, 0.00027103, 0.10055737])
        ```
        
Platform: UNKNOWN
Classifier: License :: OSI Approved :: Apache Software License
Classifier: Development Status :: 4 - Beta
Classifier: Programming Language :: Python
Classifier: Programming Language :: Python :: 3
Classifier: Programming Language :: Python :: Implementation :: CPython
Requires-Python: >=3.5
Description-Content-Type: text/markdown
