Configuration

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

Bases: 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[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[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))'

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.
`validate_json`	Validate the object's data against its json schema.

Configuration

COMPAS