ToolModel.from_tcf_to_t0cf

ToolModel.from_tcf_to_t0cf(frames_tcf)[source]

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[Frame]: Frames (in WCF) at the robot’s tool tip (tcf).

Returns:

list[Frame]: Frames (in WCF) at the robot’s flange (tool0).

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_tcf = [Frame((-0.309, -0.046, -0.266), (0.276, 0.926, -0.256), (0.879, -0.136, 0.456))]
>>> t0cf_frame = tool.from_tcf_to_t0cf(frames_tcf)[0]
>>> t0cf_frame.point
Point(x=-0.363, y=0.003, z=-0.147)
>>> t0cf_frame.xaxis
Vector(x=0.388, y=-0.351, z=-0.852)
>>> t0cf_frame.yaxis
Vector(x=0.276, y=0.926, z=-0.256)