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