pulseapi-integration-calibrate 0.0.3

Calibrate plane

Rounding motion for robot Pulse by Rozum Robotics

Requirements

Python 3.6+

pulse-api (pip3 install pulse-api -i https://pip.rozum.com/simple)

pulseapi-integration (pip3 install pulseapi-integration)

Installation

To get the latest version, use the following command:

pip install pulseapi-integration-calibrate

Getting started

Examples use the latest version of the library.

Quickstart

from pulseapi_integration_calibrate.plane import calibrate_reference_frame
from pulseapi_integration import *

host = "192.168.1.33:8081"
robot = NewRobotPulse(host)

CALIBRATE_FRAME_3P_P1_ORIGIN = 1 

M1 = [x1,y1,z1]
M2 = [x2,y2,z2]
M3 = [x3,y3,z3]

frame = calibrate_reference_frame([M1,M2,M3], method = CALIBRATE_FRAME_3P_P1_ORIGIN)
robot.set_reference_frame(position(frame[0],frame[1]))

New function:

calibrate_reference_frame(points,method)

Return calibrate frame

Points definition:

If method = CALIBRATE_FRAME_3P_P1_ORIGIN, then set points as in the image

Methods:

CALIBRATE_FRAME_3P_P1_ON_X = 0 # Calibrate by 3 points: [X, X+, Y+] (p1 on X axis)

CALIBRATE_FRAME_3P_P1_ORIGIN = 1 # Calibrate by 3 points: [Origin, X+, XY+] (p1 is origin)

CALIBRATE_FRAME_6P = 2 # Calibrate by 6 points

Important!

Now only CALIBRATE_FRAME_3P_P1_ORIGIN method works