ptc 0.0.1.dev20200721152952

Description:

ptc 0.0.1.dev20200721152952

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:
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])