Robot.from_t0cf_to_tcf

Robot.from_t0cf_to_tcf(frames_t0cf, group=None)[source]

Convert frames at the robot’s flange (tool0 frame) to frames at the robot’s tool tip (tcf frame) using the attached tool.

Parameters:

frames_t0cflist of compas.geometry.Frame: Frames (in WCF) at the robot’s flange (tool0).
groupstr, optional: The planning group to attach this tool to. Defaults to the main planning group.

Returns:

list of compas.geometry.Frame: Frames (in WCF) at the robot’s tool tip (tcf).

Raises:

Exception: If the robot has no attached tool defined.

Examples

>>> robot = RobotLibrary.ur5()
>>> mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
>>> frame = Frame([0.14, 0, 0], [0, 1, 0], [0, 0, 1])
>>> robot.attach_tool(Tool(mesh, frame))
>>> frames_t0cf = [Frame((-0.363, 0.003, -0.147), (0.388, -0.351, -0.852), (0.276, 0.926, -0.256))]
>>> robot.from_t0cf_to_tcf(frames_t0cf)                                                            
[Frame(Point(-0.309, -0.046, -0.266), Vector(0.276, 0.926, -0.256), Vector(0.879, -0.136, 0.456))] 
>>> robot.from_t0cf_to_tcf(frames_t0cf, group=robot.main_group_name)                               
[Frame(Point(-0.309, -0.046, -0.266), Vector(0.276, 0.926, -0.256), Vector(0.879, -0.136, 0.456))] 