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))'