[docs]class Joint(object):
"""Represent joints configuration in radians."""
Base = 0.0
Shoulder = 0.0
Elbow = 0.0
Wrist1 = 0.0
Wrist2 = 0.0
Wrist3 = 0.0
def __init__(self, *args, **kwargs) -> None:
if len(args) == 6:
(
self.Base,
self.Shoulder,
self.Elbow,
self.Wrist1,
self.Wrist2,
self.Wrist3,
) = args
else:
self.Base = kwargs.get("Base", 0.0)
self.Shoulder = kwargs.get("Shoulder", 0.0)
self.Elbow = kwargs.get("Elbow", 0.0)
self.Wrist1 = kwargs.get("Wrist1", 0.0)
self.Wrist2 = kwargs.get("Wrist2", 0.0)
self.Wrist3 = kwargs.get("Wrist3", 0.0)
[docs] def get_joints(self) -> list:
return [
self.Base,
self.Shoulder,
self.Elbow,
self.Wrist1,
self.Wrist2,
self.Wrist3,
]
[docs] def is_empty(self):
return all(val == 0 for val in self.get_joint())
[docs] def from_array(self, joint_array: list):
(
self.Base,
self.Shoulder,
self.Elbow,
self.Wrist1,
self.Wrist2,
self.Wrist3,
) = joint_array
