Robot.to_world_coordinates

Robot.to_world_coordinates(frame_RCF, group=None)[source]

Represent a frame from the robot’s coordinate system (RCF) in the world coordinate system (WCF).

Parameters

• frame_RCF (compas.geometry.Frame) – A frame in the robot’s coordinate frame.

• group (str, optional) – The name of the planning group. Defaults to the main planning group.

Returns

compas.geometry.Frame – A frame in the world coordinate frame.

Examples

>>> frame_RCF = Frame([-0.363, 0.003, -0.147], [0.388, -0.351, -0.852], [0.276, 0.926, -0.256])
>>> frame_WCF = robot.to_world_coordinates(frame_RCF)
>>> frame_WCF
Frame(Point(-0.363, 0.003, -0.147), Vector(0.388, -0.351, -0.852), Vector(0.276, 0.926, -0.256))