def data(self, data):
self.points = list(
map(JointTrajectoryPoint.from_data,
data.get('points') or []))
self.joint_names = data.get('joint_names', [])
if data.get('start_configuration'):
self.start_configuration = Configuration.from_data(
data.get('start_configuration'))
self.fraction = data.get('fraction')
self.attached_collision_meshes = [
AttachedCollisionMesh.from_data(acm_data)
for acm_data in data.get('attached_collision_meshes', [])
]
def test_from_data():
config = Configuration.from_data(
dict(joint_values=[8.312, 1.5],
joint_types=[Joint.PRISMATIC, Joint.REVOLUTE]))
assert str(config) == 'Configuration((8.312, 1.500), (2, 0))'