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.