TAU is a tool for generating 3d surface plots indicating max thrust at zero torque of a group of thrusters
To use, run tau.py with a thruster layout JSON file in your working directory. The program should output a 3d surface indicating your maximum thrust in each direction that produces zero torque.
This program was initially created with the design of underwater ROVs in mind, but could easily be expanded to many other things.
Note that the coordinate system for this program uses aircraft-style coordinates rather than conventional ones. 
TODO:
- add a GUI
- make the output surface less jagged
- add a way to show individual thruster values at a given point
- make sure the thrusters are sharing load equally
- accurately show surfaces when the vehicle has fewer than 6 dof