Robot.from_tcf_to_t0cf

Robot.from_tcf_to_t0cf(frames_tcf, group=None)[source]

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

Parameters:

frames_tcflist of compas.geometry.Frame: Frames (in WCF) at the robot’s tool tip (tcf).
groupstr, optional: The planning group whose tool to use. Defaults to the main planning group.

Returns:

list of compas.geometry.Frame: Frames (in WCF) at the robot’s flange (tool0).

Raises:

Exception: If the attached tool is not set.

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_tcf = [Frame((-0.309, -0.046, -0.266), (0.276, 0.926, -0.256), (0.879, -0.136, 0.456))]
>>> robot.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))]  
>>> robot.from_tcf_to_t0cf(frames_tcf, group=robot.main_group_name)                                 
[Frame(Point(-0.363, 0.003, -0.147), Vector(0.388, -0.351, -0.852), Vector(0.276, 0.926, -0.256))]  