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())