"""Example: Different Robot vendors use different conventions to describe TCP orientation.""" from compas.geometry import Point from compas.geometry import Vector from compas.geometry import Frame point = Point(0.0, 0.0, 63.0) xaxis = Vector(0.68, 0.68, 0.27) yaxis = Vector(-0.67, 0.73, -0.15) F = Frame(point, xaxis, yaxis) print(F.quaternion) # ABB print(F.euler_angles(static=False, axes='xyz')) # Staubli print(F.euler_angles(static=False, axes='zyx')) # KUKA print(F.axis_angle_vector) # UR
# Orientation specs from compas.geometry import Frame # from compas_ghpython import xdraw_frame point = (0.0, 0.0, 63.0) xaxis = (0.68, 0.68, 0.27) yaxis = (-0.67, 0.73, -0.15) F = Frame(point, xaxis, yaxis) print(F) print(F.quaternion) # ABB print(F.euler_angles(static=True, axes='xyz')) # Staubli print(F.euler_angles(static=False, axes='zyx')) # KUKA print(F.axis_angle_vector) # UR