def test_to_data():
config = Configuration.from_prismatic_and_revolute_values(
[8.312], [1.5, 0., 0., 0., 1., 0.8])
# joint_types=[Joint.PRISMATIC, Joint.REVOLUTE]))
data = config.to_data()
assert data['joint_values'] == [8.312, 1.5, 0., 0., 0., 1., 0.8]
assert data['joint_types'] == [Joint.PRISMATIC] + [Joint.REVOLUTE] * 6
def config_from_vrep(list_of_floats, scale):
# COMPAS FAB uses radians and meters, just like V-REP,
# so in general, scale should always be 1
radians = list_of_floats[3:]
prismatic_values = map(lambda v: v * scale, list_of_floats[0:3])
return Configuration.from_prismatic_and_revolute_values(prismatic_values, radians)
def test_prismatic_revolute_ctor():
config = Configuration.from_prismatic_and_revolute_values(
[8.312], [1.5, 0., 0., 0., 1., 0.8])
assert config.joint_values == [8.312, 1.5, 0., 0., 0., 1., 0.8]
assert config.joint_types == [Joint.PRISMATIC] + [Joint.REVOLUTE] * 6