ToolModel.from_t0cf_to_tcf

ToolModel.from_t0cf_to_tcf(frames_t0cf)

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

Parameters:

frames_t0cflist[Frame]

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

Returns:

list[Frame]

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

Examples

>>> import compas
>>> from compas.datastructures import Mesh
>>> from compas.geometry import Frame
>>> mesh = Mesh.from_stl(compas.get("cone.stl"))
>>> frame = Frame([0.14, 0, 0], [0, 1, 0], [0, 0, 1])
>>> tool = ToolModel(mesh, frame)
>>> frames_t0cf = [Frame((-0.363, 0.003, -0.147), (0.388, -0.351, -0.852), (0.276, 0.926, -0.256))]
>>> tcf_frame = tool.from_t0cf_to_tcf(frames_t0cf)[0]
>>> tcf_frame.point
Point(x=-0.309, y=-0.046, z=-0.266)
>>> tcf_frame.xaxis
Vector(x=0.276, y=0.926, z=-0.256)
>>> tcf_frame.yaxis
Vector(x=0.879, y=-0.136, z=0.456)