Tool.from_tcf_to_t0cf

Tool.from_tcf_to_t0cf(frames_tcf)

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

Parameters:

frames_tcflist of compas.geometry.Frame

Frames (in WCF) at the robot’s tool tip (tcf).

Returns:

list of compas.geometry.Frame

Frames (in WCF) at the robot’s flange (tool0).

Examples

>>> mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
>>> frame = Frame([0.14, 0, 0], [0, 1, 0], [0, 0, 1])
>>> 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))]
>>> frames_t0cf = tool.from_tcf_to_t0cf(frames_tcf)
>>> print(frames_t0cf) 
[Frame(Point(-0.363, 0.003, -0.147), Vector(0.388, -0.351, -0.852), Vector(0.276, 0.926, -0.256))]