unable to set joint_config for a group.

[obucklin]

JointTrajectoryPoint looks like this:

JointTrajectoryPoint((8.368, -0.832, -2.226, -0.091, 1.021, -1.290, 0.000, 1.840, -0.091), (2, 2, 2, 0, 0, 0, 0, 0, 0), (0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000), (-0.668, 0.061, -0.932, 0.000, 0.580, 0.091, -0.000, -0.671, -0.000), (0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000), Duration(14, 709338369))

configuration looks like this:

Configuration((8.368, -0.832, -2.226, -0.091, 1.021, -1.290, 0.000, 1.840, -0.091, -7.412, -2.960, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 21.202, 0.000, -2.960, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, -7.412, -2.960, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000), (2, 2, 2, 0, 0, 0, 0, 0, 0, 2, 2, 0, 0, 0, 0, 0, 0, 2, 2, 2, 0, 0, 0, 0, 0, 0, 2, 2, 0, 0, 0, 0, 0, 0), ('bridge1_joint_EA_X', 'robot11_joint_EA_Y', 'robot11_joint_EA_Z', 'robot11_joint_1', 'robot11_joint_2', 'robot11_joint_3', 'robot11_joint_4', 'robot11_joint_5', 'robot11_joint_6', 'robot12_joint_EA_Y', 'robot12_joint_EA_Z', 'robot12_joint_1', 'robot12_joint_2', 'robot12_joint_3', 'robot12_joint_4', 'robot12_joint_5', 'robot12_joint_6', 'bridge2_joint_EA_X', 'robot21_joint_EA_Y', 'robot21_joint_EA_Z', 'robot21_joint_1', 'robot21_joint_2', 'robot21_joint_3', 'robot21_joint_4', 'robot21_joint_5', 'robot21_joint_6', 'robot22_joint_EA_Y', 'robot22_joint_EA_Z', 'robot22_joint_1', 'robot22_joint_2', 'robot22_joint_3', 'robot22_joint_4', 'robot22_joint_5', 'robot22_joint_6'))

I would set the joint values with configuration.joint_values = joint_trajectory_point.joint_values , but I get the error: Exception: joint_values must have length 34, object of length 9 given

[gonzalocasas]

For reference/doc, as a temporary fix, we can use this:

import Rhino
import Grasshopper

import rhinoscriptsyntax as rs
from compas_fab.backends import MoveItPlanner
from compas_fab.robots import FrameTarget
from compas_fab.robots import TargetMode
from compas_rhino.conversions import plane_to_compas_frame

class MotionPlanning(Grasshopper.Kernel.GH_ScriptInstance):
    def RunScript(self, ros_client, robot_cell, start_state, group: str, frame):

        if not ros_client or not ros_client.is_connected or not robot_cell or not frame:
            return None

        if not start_state: 
            start_state = robot_cell.default_cell_state()
        start_state = start_state.copy()

        frame = plane_to_compas_frame(frame)

        planner = MoveItPlanner(ros_client)

        target = FrameTarget(frame, TargetMode.ROBOT)
        trajectory = planner.plan_motion(target, start_state, group=group)

        zc = robot_cell.zero_configuration(group)

        result = []
        for jtp in trajectory.points:
            configuration = planner._build_configuration(jtp.joint_values, zc.joint_names, group, return_full_configuration=True, start_configuration=start_state.robot_configuration)
            jtp_state = start_state.copy()
            jtp_state.robot_configuration.merge(configuration)
            result.append(jtp_state)

        return result

but it's quite a convoluted extra step to get the full config back from a group config. Perhaps I'm missing something though and there's an easier method to merge them. /cc @yck011522

[gonzalocasas]

Technically not a bug, but it is annoying AF :P