Merge pull request #797 from compas-dev/joint_config

Upstream Configuration

Author: beverlylytle

CHANGELOG.md

@@ -11,7 +11,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 
 * Added a `invert` and `inverted` method `compas.geometry.Vector`.
-* Added unetary `__neg__` operator for `compas.geometry.Vector`
+* Added unetary `__neg__` operator for `compas.geometry.Vector`.
+* Added `compas.robots.Configuration`, moved from `compas_fab`.
 
 ### Changed
 

src/compas/robots/__init__.py

@@ -9,7 +9,7 @@
 Model
 =====
 
-.. inheritance-diagram:: RobotModel Joint Link ToolModel
+.. inheritance-diagram:: RobotModel Joint Link ToolModel Configuration
     :parts: 1
 
 The root of the model is the :class:`RobotModel` class, which
@@ -24,6 +24,7 @@
     Joint
     Link
     ToolModel
+    Configuration
 
 
 Geometric description
@@ -115,6 +116,9 @@
 """
 from __future__ import absolute_import
 
+from .configuration import (
+    Configuration
+)
 from .model import (
     Axis,
     Box,
@@ -186,5 +190,7 @@
     'AbstractMeshLoader',
     'DefaultMeshLoader',
     'LocalPackageMeshLoader',
-    'GithubPackageMeshLoader'
+    'GithubPackageMeshLoader',
+
+    'Configuration'
 ]

src/compas/robots/base_artist/_artist.py

@@ -230,7 +230,7 @@ def update(self, joint_state, visual=True, collision=True):
 
         Parameters
         ----------
-        joint_state : :obj:`dict`
+        joint_state : :obj:`dict` or :class:`compas.robots.Configuration`
             A dictionary with joint names as keys and joint positions as values.
         visual : bool, optional
             ``True`` if the visual geometry should be also updated, otherwise ``False``.
@@ -264,7 +264,7 @@ def update_tool(self, joint_state=None, visual=True, collision=True, transformat
 
         Parameters
         ----------
-        joint_state : :obj:`dict`, optional
+        joint_state : :obj:`dict`or :class:`compas.robots.Configuration`, optional
             A dictionary with joint names as keys and joint positions as values.
             Defaults to an empty dictionary.
         transformation : :class:`compas.geometry.Transformation`, optional