Wrench

class compas_fab.robots.Wrench(force, torque)[source]

Bases: object

A wrench represents force in free space, separated into its linear (force) and angular (torque) parts.

Attributes
  • force (Vector) – [Fx, Fy, Fz] force vector in Newtons

  • torque (Vector) – [Tx, Ty, Tz] moments vector in Newton-meters

Examples

>>> from compas.geometry import Vector
>>> w = Wrench([1, 2, 3], [0.1, 0.2, 0.3])
>>> w = Wrench(Vector(1, 2, 3), Vector(0.1, 0.2, 0.3))

Methods

__init__(force, torque)

Initialize self.

by_samples(wrenches[, proportion_to_cut])

Construct the wrench by sampled data, allowing to filter.

copy()

Make a copy of this Wrench.

from_data(data)

Construct a wrench from its data representation.

from_list(values)

Construct a wrench from a list of 6 float values.

gravity_compensated(ft_sensor_frame, mass, …)

Removes the force and torque in effect of gravity from the wrench.

to_data()

Returns the data dictionary that represents the wrench.

transform(transformation)

Transforms a Wrench with the transformation.

transformed(transformation)

Returns a transformed copy of the Wrench.

Attributes

data

Returns the data dictionary that represents the wrench.

force

torque