7 lines
276 B
Python
7 lines
276 B
Python
from scipy.spatial.transform import Rotation as R
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import numpy as np
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arm_orientation_set0 = np.array([-180,-30,0])
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b_rotation_s_set0 = R.from_euler('xyz',arm_orientation_set0,degrees=True).as_matrix()
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tcp_offset = b_rotation_s_set0 @ np.array([0,0,154.071])
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print(tcp_offset) |