ToolModel.from_tcf_to_t0cf

ToolModel.from_tcf_to_t0cf(frames_tcf)[source]

Converts a list of frames at the robot’s tool tip (tcf frame) to frames at the robot’s flange (tool0 frame).

Parameters: frames_tcf (list[Frame]) – Frames (in WCF) at the robot’s tool tip (tcf).
Returns: list[Frame] – Frames (in WCF) at the robot’s flange (tool0).

Examples

>>> import compas
>>> from compas.datastructures import Mesh
>>> from compas.geometry import Frame
>>> mesh = Mesh.from_stl(compas.get('cone.stl'))
>>> frame = Frame([0.14, 0, 0], [0, 1, 0], [0, 0, 1])
>>> tool = ToolModel(mesh, frame)
>>> frames_tcf = [Frame((-0.309, -0.046, -0.266), (0.276, 0.926, -0.256), (0.879, -0.136, 0.456))]
>>> tool.from_tcf_to_t0cf(frames_tcf)
[Frame(Point(-0.363, 0.003, -0.147), Vector(0.388, -0.351, -0.852), Vector(0.276, 0.926, -0.256))]

ToolModel.from_tcf_to_t0cf

COMPAS