Robot.merge_group_with_full_configuration¶

Robot.merge_group_with_full_configuration(group_configuration, full_configuration, group)[source]¶

Get the robot’s full configuration by merging a group’s configuration with a full configuration. The group configuration takes precedence over the full configuration in case a joint value is present in both.

Parameters

• group_configuration (Configuration) – The configuration for one of the robot’s planning groups.

• full_configuration (Configuration) – The configuration for all configurable joints of the robot.

• group (str) – The name of the planning group.

Returns

Configuration – A full configuration with values for all configurable joints.

Raises

ValueError – If the full_configuration does not specify positions for all configurable joints, or if the group_configuration does not specify positions for all configurable joints of the given group.