ConfigurationTarget

class compas_fab.robots.ConfigurationTarget

Bases: Target

Represents a configuration target for the robot’s end-effector motion planning.

The configuration target is a joint configuration of the robot’s joints. Given a ConfigurationTarget, the planner aims to find a path moving the robot’s joint positions to match with ConfigurationTarget.target_configuration.

ConfigurationTarget is suitable for targets whose joint configuration is known, such as a home position, or a repetitive position that has been calibrated in the actual robot cell, such as a tool changing position.

The number of joints in the target configuration should match the number of joints in the robot’s planning group. Otherwise the behavior of the backend planner may be undefined. See tutorial Targets and Waypoints for more details.

Attributes:

target_configurationcompas_robots.Configuration

The target configuration. joint_names and joint_values must be specified. Defaults unit is radians for revolute and continuous joints, and meters for prismatic joints.

tolerance_abovelist of float, optional

Acceptable deviation above the targeted configurations. One for each joint. Always use positive values. If not specified, the default value from the planner is used.

tolerance_belowlist of float, optional

Acceptable deviation below the targeted configurations. One for each joint. Always use positive values. If not specified, the default value from the planner is used.

namestr, optional

The human-readable name of the target. Defaults to ‘Configuration Target’.

Methods

generate_default_tolerances	Generates tolerances values for the target configuration based on the joint types.
scaled	Returns copy of the target where the target configuration and tolerances are scaled.

Inherited Methods

ToString	Converts the instance to a string.
copy	Make an independent copy of the data object.
from_json	Construct an object of this type from a JSON file.
from_jsonstring	Construct an object of this type from a JSON string.
sha256	Compute a hash of the data for comparison during version control using the sha256 algorithm.
to_json	Convert an object to its native data representation and save it to a JSON file.
to_jsonstring	Convert an object to its native data representation and save it to a JSON string.
validate_data	Validate the data against the object's data schema.