def __init__(self, tcp_frame): self.model = [] self.tool0_frame = Frame.worldXY() self.tcp_frame = tcp_frame self.transformation_tool0_tcp = Transformation.from_frame_to_frame(self.tcp_frame, self.tool0_frame) self.transformation_tcp_tool0 = Transformation.from_frame_to_frame(self.tool0_frame, self.tcp_frame)
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())