ToolModel.from_robot_model

classmethod ToolModel.from_robot_model(robot, frame_in_tool0_frame, link_name=None)

Creates a ToolModel from a RobotModel instance.

Parameters

  • robot (RobotModel)

  • frame_in_tool0_frame (str) – The frame of the tool in tool0 frame.

  • link_name (str) – The name of the Link to which the tool is attached. Defaults to None.