def test_revolute_ctor():
q = [4.5, 1.7, 0.5, 2.1, 0.1, 2.1]
config = Configuration.from_revolute_values(q)
assert config.types == [Joint.REVOLUTE] * 6
config = Configuration.from_revolute_values([pi / 2, 0., 0.])
assert to_degrees(config.values) == [90, 0, 0]
def revolute_configuration_to_robot_joints(configuration):
"""Convert a :class:`compas_fab.robots.Configuration` to a :class:`compas_rrc.RobotJoints`.
Parameter
---------
configuration : :class:`Configuration`
Returns
-------
:class:`RobotJoints`
""" # noqa: E501
revolute_values_in_degrees = to_degrees(configuration.revolute_values)
return RobotJoints(*revolute_values_in_degrees)
def to_compas_rrc(
self,
): # type: () -> Tuple[Callable, List[Union[Frame, compas_rrc.RobotJoints]]]
if self.trajectory_type == self.FRAME_TRAJECTORY:
rrc_trajectory = self._list
rrc_instruction = compas_rrc.MoveToRobtarget
if self.trajectory_type == self.JOINT_TRAJECTORY:
rrc_trajectory = [
compas_rrc.RobotJoints(*to_degrees(pt.values)) for pt in self.points
]
rrc_instruction = compas_rrc.MoveToJoints
return rrc_instruction, rrc_trajectory