def __init__(self, link_name=None, object=None, touch_links=None,
detach_posture=None, weight=0):
self.link_name = link_name or ''
self.object = object or CollisionObject()
self.touch_links = touch_links or []
self.detach_posture = detach_posture or JointTrajectory()
self.weight = weight
def __init__(self, link_name=None, object=None, touch_links=None,
detach_posture=None, weight=0):
self.link_name = link_name if link_name else ''
self.object = object if object else CollisionObject()
self.touch_links = touch_links if touch_links else []
self.detach_posture = detach_posture if detach_posture else JointTrajectory()
self.weight = weight
def from_msg(cls, msg):
joint_trajectory = JointTrajectory.from_msg(msg['joint_trajectory'])
multi_dof_joint_trajectory = MultiDOFJointTrajectory.from_msg(
msg['multi_dof_joint_trajectory'])
return cls(joint_trajectory, multi_dof_joint_trajectory)
def __init__(self,
joint_trajectory=JointTrajectory(),
multi_dof_joint_trajectory=MultiDOFJointTrajectory()):
self.joint_trajectory = joint_trajectory
self.multi_dof_joint_trajectory = multi_dof_joint_trajectory