Configuration¶

class compas_fab.robots.Configuration(values=None, types=None, joint_names=None)[source]¶

Bases: object

Represents the configuration of a robot based on the state of its joints.

This concept is also refered to as “Joint State”.

Parameters

values (list of float) – Joint values expressed in radians or meters, depending on the respective type.
types (list of compas.robots.Joint.SUPPORTED_TYPES) – Joint types, e.g. a list of compas.robots.Joint.REVOLUTE for revolute joints.
joint_names (list of str, optional) – List of joint names.

Attributes

values (list of float) – Joint values expressed in radians or meters, depending on the respective type.
types (list of compas.robots.Joint.SUPPORTED_TYPES) – Joint types, e.g. a list of compas.robots.Joint.REVOLUTE for revolute joints.
joint_names (list of str) – List of joint names.
data (dict) – The data representing the configuration.
prismatic_values (list of float) – Prismatic joint values in meters.
revolute_values (list of float) – Revolute joint values in radians.

Examples

>>> config = Configuration.from_revolute_values([math.pi/2, 0., 0.])
>>> config.values
[1.5707963267948966, 0.0, 0.0]

>>> from compas_fab.robots import Configuration
>>> config = Configuration.from_prismatic_and_revolute_values([8.312], [math.pi/2, 0., 0., 0., 2*math.pi, 0.8])
>>> str(config)
'Configuration((8.312, 1.571, 0.000, 0.000, 0.000, 6.283, 0.800), (2, 0, 0, 0, 0, 0, 0))'

>>> from compas_fab.robots import Configuration
>>> from compas.robots import Joint
>>> config = Configuration([math.pi/2, 3., 0.1], [Joint.REVOLUTE, Joint.PRISMATIC, Joint.PLANAR])
>>> str(config)
'Configuration((1.571, 3.000, 0.100), (0, 2, 5))'

Methods

`__init__`([values, types, joint_names])	Initialize self.
`check_joint_names`()	Raises an error if there is not a joint name for every value.
`close_to`(other[, tol])	Returns `True` if the other Configuration’s values are within a certain range.
`copy`()	Create a copy of this `Configuration`.
`from_data`(data)	Construct a configuration from its data representation.
`from_prismatic_and_revolute_values`(…[, …])	Construct a configuration from prismatic and revolute joint values.
`from_revolute_values`(values[, joint_names])	Construct a configuration from revolute joint values in radians.
`iter_differences`(other)	Generator over the differences to another Configuration’s values.
`max_difference`(other)	Returns the maximum difference to another Configuration’s values.
`merge`(other)	Merge the configuration with another configuration in place along joint names.
`merged`(other)	Get a new `Configuration` with this configuration merged with another configuration.
`scale`(scale_factor)	Scales the joint positions of the current configuration.
`scaled`(scale_factor)	Return a scaled copy of this configuration.
`to_data`()	Get the data dictionary that represents the configuration.

Attributes

`data`	The data representing the configuration.
`has_joint_names`	Returns `True` when there is a joint name for every value.
`joint_dict`	A dictionary of joint values by joint name.
`prismatic_values`	Prismatic joint values in meters.
`revolute_values`	Revolute joint values in radians.
`type_dict`	A dictionary of joint types by joint name.

Configuration¶

COMPAS