Bases: object

Create Rapid ToolData.

Parameters:

• tcp_coord (list of class:float) – Coordinate of tool center point.

• tcp_quaternion (list of float) – Rotation of tool center plane in quaternions.

• cog_coord (list of float, optional) – Coordinates of center of gravity of tool. Defaults to [0, 0, 100].

• name (str, optional) – Name of tool, used as variable name in get_rapid_tooldata(). Defaults to "tool".

• weight (float, optional) – Tool weight in kg. Defaults to 5.0.

• tolerance (int, optional) – Tolerance used in Rapid tooldata string given by get_rapid_tooldata(). Defaults to 1e-6.

RAPID_TOOLDATA_FORMAT = 'TASK PERS tooldata {}:=[TRUE,[[{},{},{}],[{},{},{},{}]],[{},[{},{},{}],[1,0,0,0],0,0,0]];'¶

__init__(tcp_coord, tcp_quaternion, cog_coord=None, name='tool', weight=5.0, tolerance=1e-06)[source]¶

property tcp_frame¶

TCP represented as a compas.geometry.Frame.

property tcp_plane¶

TCP represented as a Rhino.Geometry.Plane.

classmethod from_frame_point(tcp_frame, cog_pt=None, **kwargs)[source]¶

Create RapidToolData object from compas.Geometry.Primitive objects.

Parameters:

• tcp_frame (compas.geometry.Frame) – Frame at tool center plane.

• cog_pt (compas.geometry.Point, optional) – Point at tool center of gravity.

• name (str, optional)

• weight (float, optional) – Tool weight in kg

Returns:

RapidToolData

classmethod from_plane_point(tcp_plane, cog_pt=None, **kwargs)[source]¶

Create RapidToolData object from Rhino.Geometry.GeometryBase objects.

Parameters:

• tcp_plane (Rhino.Geometry.Plane) – Plane at tool center plane.

• cog_pt (Rhino.Geometry.Point3d, optional) – Point at tool center of gravity.

• name (str, optional)

• weight (float, optional) – Tool weight in kg

Returns:

RapidToolData

get_rapid_tooldata()[source]¶

Generate Rapid tooldata.

Returns:

str