Configuration

class compas_fab.fab.robots.rfl.Configuration

Bases: compas_fab.fab.robots.robot.BaseConfiguration

Represents the configuration of an RFL robot based on its joint angle values and external axes values in the gantry system.

classmethod from_degrees_list(list_of_floats)

Construct a configuration from a flat list of 6 joint values expressed in degrees and 3 axis values in millimeters.

Parameters:list_of_floats (list of float) – 9 joint values where the first 6 are degrees of the joint values, and the last 3 are gantry positions in millimeters.

classmethod from_joints_and_external_axes(joint_values, external_axes)

Construct a configuration from a list of joint values and external axes values.

Parameters:

• joint_values (list of float) – 6 joint values expressed in degrees.
• external_axes (list of float) – Gantry position in x, y, z in millimeters.

classmethod from_radians_list(list_of_floats)

Construct a configuration from a flat list of 6 joint values expressed in radians and 3 axis values in millimeters.

Parameters:list_of_floats (list of float) – 9 joint values where the first 6 are radians of the joint values, and the last 3 are gantry positions in millimeters.