def set_base(self, base_frame):
# move to UR !!!!
self.base_frame = base_frame
# transformation matrix from world coordinate system to robot coordinate system
self.transformation_WCS_RCS = Transformation.from_frame_to_frame(
Frame.worldXY(), self.base_frame)
# transformation matrix from robot coordinate system to world coordinate system
self.transformation_RCS_WCS = Transformation.from_frame_to_frame(
self.base_frame, Frame.worldXY())
def __init__(self):
self.model = [] # a list of meshes
self.model_loaded = False
self.basis_frame = None
# move to UR !!!!
self.transformation_RCS_WCS = None
self.transformation_WCS_RCS = None
self.set_base(Frame.worldXY())
self.tool = Tool(Frame.worldXY())
self.configuration = None
self.tool0_frame = Frame.worldXY()
def __init__(self, tcp_frame):
self.model = None
self.tool0_frame = Frame.worldXY()
self.tcp_frame = tcp_frame
# TODO: Gonzalo: I find the single-letter part of the name a bit confusing. Maybe rename this to
# self.transformation_to_tool0 and self.transformation_from_tool0 (or similar)?
self.transformation_T0_T = Transformation.from_frame_to_frame(self.tcp_frame, self.tool0_frame)
self.transformation_T_T0 = Transformation.from_frame_to_frame(self.tool0_frame, self.tcp_frame)