Robot.constraints_from_configuration

Robot.constraints_from_configuration(configuration, tolerances_above, tolerances_below, group=None)[source]

Returns joint constraints on all joints of the configuration.

Parameters

  • configuration (compas_fab.robots.Configuration) – The target configuration.

  • tolerances_above (list of float) – The tolerances above the targeted configuration’s joint value on each of the joints, defining the upper bound in radian to be achieved. If only one value is passed, it will be used to create upper bounds for all joint constraints.

  • tolerances_below (list of float) – The tolerances below the targeted configuration’s joint value on each of the joints, defining the upper bound in radian to be achieved. If only one value is passed, it will be used to create lower bounds for all joint constraints.

  • group (str, optional) – The planning group for which we specify the constraint. Defaults to the robot’s main planning group.

Examples

>>> configuration = Configuration.from_revolute_values([-0.042, 4.295, -4.110, -3.327, 4.755, 0.])
>>> tolerances_above = [math.radians(1)] * 6
>>> tolerances_below = [math.radians(1)] * 6
>>> group = robot.main_group_name
>>> robot.constraints_from_configuration(configuration, tolerances_above, tolerances_below, group)
[JointConstraint('shoulder_pan_joint', -0.042, 0.017453292519943295, 0.017453292519943295, 1.0),         JointConstraint('shoulder_lift_joint', 4.295, 0.017453292519943295, 0.017453292519943295, 1.0),         JointConstraint('elbow_joint', -4.11, 0.017453292519943295, 0.017453292519943295, 1.0),         JointConstraint('wrist_1_joint', -3.327, 0.017453292519943295, 0.017453292519943295, 1.0),         JointConstraint('wrist_2_joint', 4.755, 0.017453292519943295, 0.017453292519943295, 1.0),         JointConstraint('wrist_3_joint', 0.0, 0.017453292519943295, 0.017453292519943295, 1.0)]
Raises

  • ValueError – If the passed configuration does not correspond to the group.

  • ValueError – If the passed tolerances have a different length than the configuration.

Notes

Check for using the correct tolerance units for prismatic and revolute joints.