212_configuration.py

# Units:
#  - Revolute joint : radiants
#  - Prismatic joint: meters

import math
from compas.robots.model import Joint
from compas.robots import Configuration

print("Default constructor (radians & meters!)")
config = Configuration([math.pi, 4], [Joint.REVOLUTE, Joint.PRISMATIC], ["joint_1", "ext_axis_1"])
print(config)

print()
print("Construct from revolute values")
config = Configuration.from_revolute_values([math.pi, 0], ["joint_1", "joint_2"])
print(config)

print()
print("Construct from prismatic & revolute values")
config = Configuration.from_prismatic_and_revolute_values([4], [math.pi], ["ext_axis_1", "joint_1"])
print(config)

print()
print("Merge two configurations")
config_a = Configuration([4], [Joint.PRISMATIC], ["ext_axis_1"])
config_b = Configuration([math.pi], [Joint.REVOLUTE], ["joint_1"])
config_c = config_a.merged(config_b)
print(config_c)

print()
print("Access and update of configuration")
config = Configuration.from_revolute_values([math.pi, 0.0], ["joint_1", "joint_2"])
print("Joint 1: {:.3f}, Joint 2: {:.3f}".format(config["joint_1"], config["joint_2"]))
config["joint_1"] = math.pi / 2
config["joint_2"] = math.pi
print(config)