configurationsposes

Configurationsposes is a term used in robotics and computer graphics to describe the relationship between a system’s configuration and the pose it assumes. It refers to the set of joint configurations that yield a particular pose, as well as the mapping from configuration space to pose space. In practice, the configuration space comprises all permissible joint values, while a pose specifies the position and orientation of the model’s components.

In robotics, forward kinematics maps a configuration to the pose of the robot’s end effectors, whereas inverse kinematics seeks configurations that achieve a desired pose. The concept of configurationsposes highlights the data and computations that link configurations to poses, and it is often used in data-driven motion planning, control, and animation pipelines where config-pose pairs guide solvers or retargeting.

Key properties include high dimensionality, redundancy, and non-uniqueness: multiple configurations can realize the same pose. Constraints such as joint limits, self-collisions, contact with the environment, and actuator limits restrict feasible configurations. Singularities may complicate the mapping and affect numerical stability.

Common applications are autonomous navigation, robotic manipulation, character animation, and motion capture-driven workflows. Techniques used to work with configurationsposes include forward and inverse kinematics, optimization-based planning, sampling-based methods, and learning-based approaches that model or approximate config-pose mappings.

See also: configuration space, forward kinematics, inverse kinematics, pose, motion capture.