Robot.merge_group_with_full_configuration
- Robot.merge_group_with_full_configuration(group_configuration, full_configuration, group)[source]
Get the robot’s full configuration by merging a group’s configuration with a full configuration. The group configuration takes precedence over the full configuration in case a joint value is present in both.
- Parameters:
- group_configuration
compas_robots.Configuration The configuration for one of the robot’s planning groups.
- full_configuration
compas_robots.Configuration The configuration for all configurable joints of the robot.
- group
str The name of the planning group.
- group_configuration
- Returns:
compas_robots.ConfigurationA full configuration with values for all configurable joints.
- Raises:
ValueErrorIf the full_configuration does not specify positions for all configurable joints, or if the group_configuration does not specify positions for all configurable joints of the given group.