Configuration

class compas.robots.Configuration(joint_values=None, joint_types=None, joint_names=None)[source]

Bases: compas.data.data.Data

Represents the configuration of a robot based on the state of its joints. If the names of joints are also provided, the configuration behaves as a dictionary of joint name-value pairs.

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

Parameters

• joint_values (list of float) – Joint values expressed in radians or meters, depending on the respective type.

• joint_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

• joint_values (list of float) – Joint values expressed in radians or meters, depending on the respective type.

• joint_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.joint_values
[1.5707963267948966, 0.0, 0.0]

>>> 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.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))'

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.
joint_names	"List of joint names.
joint_types	Joint joint_types, e.g.
joint_values	Joint values expressed in radians or meters, depending on the respective type.
prismatic_values	Prismatic joint values in meters.
revolute_values	Revolute joint values in radians.
type_dict	A dictionary of joint types by joint name.

Inherited Attributes

DATASCHEMA	The schema of the data of this object.
JSONSCHEMA	The schema of the JSON representation of the data of this object.
JSONSCHEMANAME
dtype	The type of the object in the form of a '2-level' import and a class name.
guid	The globally unique identifier of the object.
jsondefinitions	Reusable schema definitions.
jsonstring	The representation of the object data in JSON format.
jsonvalidator	JSON schema validator for draft 7.
name	The name of the object.

Methods

check_joint_names	Raises an error if there is not a joint name for every value.
close_to	Returns True if the other Configuration's joint_values are within a certain range.
from_prismatic_and_revolute_values	Construct a configuration from prismatic and revolute joint values.
from_revolute_values	Construct a configuration from revolute joint values in radians.
get
items
iter_differences	Generator over the differences to another Configuration's joint_values.
keys
max_difference	Returns the maximum difference to another Configuration's joint values.
merge	Merge the configuration with another configuration in place along joint names.
merged	Get a new Configuration with this configuration merged with another configuration.
scale	Scales the joint positions of the current configuration.
scaled	Return a scaled copy of this configuration.
values

Inherited Methods

copy	Make an independent copy of the data object.
from_data	Construct an object of this type from the provided data.
from_json	Construct an object from serialized data contained in a JSON file.
from_jsonstring	Construct an object from serialized data contained in a JSON string.
to_data	Convert an object to its native data representation.
to_json	Serialize the data representation of an object to a JSON file.
to_jsonstring	Serialize the data representation of an object to a JSON string.
validate_data	Validate the object's data against its data schema (self.DATASCHEMA).
validate_json	Validate the object's data against its json schema (self.JSONSCHEMA).