Robot.to_local_coordinates

Robot.to_local_coordinates(frame_WCF, group=None)[source]

Represent a frame from the world coordinate system (WCF) in the robot’s coordinate system (RCF).

Parameters:

frame_WCFcompas.geometry.Frame: A frame in the world coordinate frame.
groupstr, optional: The name of the planning group. Defaults to the main planning group.

Returns:

compas.geometry.Frame: A frame in the robot’s coordinate frame.

Examples

>>> robot = RobotLibrary.ur5()
>>> frame_WCF = Frame([-0.363, 0.003, -0.147], [0.388, -0.351, -0.852], [0.276, 0.926, -0.256])
>>> frame_RCF = robot.to_local_coordinates(frame_WCF)
>>> frame_RCF                                                                                       
Frame(Point(-0.363, 0.003, -0.147), Vector(0.388, -0.351, -0.852), Vector(0.276, 0.926, -0.256))    