Robot.to_world_coordinates

Robot.to_world_coordinates(frame_RCF, group=None)

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

Parameters:

frame_RCFcompas.geometry.Frame

A frame in the robot’s coordinate frame.

groupstr, optional

The name of the planning group. Defaults to the main planning group.

Returns:

compas.geometry.Frame

A frame in the world coordinate frame.

Examples

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