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
def revolute_configuration_to_robot_joints(configuration):
"""Convert a :class:`compas_fab.robots.Configuration` to a :class:`compas_rrc.RobotJoints`.
This function ignores non revolute values.
Parameter
---------
configuration : :class:`Configuration`
Returns
-------
:class:`RobotJoints`
""" # noqa: E501
revolute_values_in_degrees = to_degrees(configuration.revolute_values)
return compas_rrc.RobotJoints(*revolute_values_in_degrees)
def test_robot_joints():
j = rrc.RobotJoints()
assert list(j) == []
j = rrc.RobotJoints(30)
assert list(j) == [30]
j = rrc.RobotJoints(30, 10, 0)
assert list(j) == [30, 10, 0]
j = rrc.RobotJoints([30, 10, 0])
assert list(j) == [30, 10, 0]
j = rrc.RobotJoints(iter([30, 10, 0]))
assert list(j) == [30, 10, 0]
j = rrc.RobotJoints(30, 45, 0)
c = j.to_configuration_primitive([0, 1, 2], ['j1', 'j2', 'j3'])
assert c.joint_values == [math.pi/6, math.pi/4, 0.0]
assert c.joint_names == ['j1', 'j2', 'j3']
j = rrc.RobotJoints(30, -45, 100)
c = j.to_configuration_primitive([0, 1, 2])
assert c.joint_values == [math.pi/6, -math.pi/4, 0.1]
assert len(c.joint_names) == 0
config = Configuration([2*math.pi, math.pi, math.pi/2, math.pi/3, math.pi/4, math.pi/6], [0, 0, 0, 0, 0, 0])
rj = rrc.RobotJoints.from_configuration_primitive(config)
assert allclose(rj.values, [360, 180, 90, 60, 45, 30])
config = Configuration(
[0, 2*math.pi, math.pi, math.pi/2, math.pi/3, math.pi/4, math.pi/6 ],
[0, 0, 0, 0, 0, 0, 0],
['a', 'b', 'c', 'd', 'e', 'f', 'g'])
rj = rrc.RobotJoints.from_configuration_primitive(config, ['b', 'c', 'd', 'e', 'f', 'g'])
assert allclose(rj.values, [360, 180, 90, 60, 45, 30])
j = rrc.RobotJoints(30, 10, 0)
config = j.to_configuration_primitive([0, 0, 0])
new_j = rrc.RobotJoints.from_configuration_primitive(config)
assert allclose(j.values, new_j.values)
def test_move_to_joints():
joints = [30, 90, 0, 0, 0]
extaxe = [0, 0, 100]
inst = rrc.MoveToJoints(joints, extaxe, 100, rrc.Zone.FINE)
assert inst.float_values == [
30, 90, 0, 0, 0, 0, 0, 0, 100, 0, 0, 0, 100, -1
]
assert not inst.string_values
assert inst.exec_level == rrc.ExecutionLevel.ROBOT
assert inst.feedback_level == rrc.FeedbackLevel.NONE
joints = rrc.RobotJoints(30, 90, 0, 0, 0)
extaxe = rrc.ExternalAxes(0, 0, 100)
inst = rrc.MoveToJoints(joints, extaxe, 100, rrc.Zone.FINE)
assert inst.float_values == [
30, 90, 0, 0, 0, 0, 0, 0, 100, 0, 0, 0, 100, -1
]