Debugged

setup.cfg

@@ -11,8 +11,7 @@ ignore = D001
 
 [pydocstyle]
 convention = numpy
-add-select = D212
-add-ignore = D202,D105
+add-ignore = D105,D202
 
 [yapf]
 COLUMN_LIMIT = 88

src/rapid_clay_formations_fab/abb/abb_rcf_client.py

@@ -65,6 +65,9 @@ def confirm_start(self):
         self.send(compas_rrc.PrintText("Press play when ready."))
         self.send(compas_rrc.Stop())
 
+        # After user presses play on pendant execution resumes:
+        self.send(compas_rrc.PrintText("Continuing execution."))
+
     def ping(self, timeout=10):
         """Ping ABB robot controller.
 
@@ -260,15 +263,17 @@ def execute_trajectory(
         """
         log.debug(f"Trajectory: {trajectory}")
         kwargs = {}
+
         if trajectory.trajectory_type == MinimalTrajectory.JOINT_TRAJECTORY:
-            trajectory_pts = trajectory.to_robot_joints()
+            trajectory_pts = trajectory.as_robot_joints_points()
             instruction = MoveToJoints
 
         elif trajectory.trajectory_type == MinimalTrajectory.FRAME_TRAJECTORY:
-            trajectory_pts = trajectory.points
+            trajectory_pts = trajectory
             instruction = MoveToRobtarget
             kwargs["motion_type"] = motion_type
         else:
+            print(trajectory.trajectory_type)
             raise RuntimeError("Trajectory not recognized: {}".format(trajectory))
 
         for pt in trajectory_pts[:-1]:  # skip last

src/rapid_clay_formations_fab/fab_data/fabrication_element.py

@@ -397,18 +397,24 @@ def __init__(
     def data(self):
         """:obj:`dict` : The data dictionary that represents the :class:`PlaceElement`."""  # noqa: E501
         data = super(PlaceElement, self).data
-        data.update(
-            {
-                "compression_ratio": self.compression_ratio,
-                "travel_trajectories": self.travel_trajectories.to_data() or None,
-                "return_travel_trajectories": self.return_travel_trajectories.to_data()
-                or None,
-                "place_trajectories": self.place_trajectories.to_data() or None,
-                "return_place_trajectories": self.return_place_trajectories.to_data()
-                or None,
-            }
+        data["compression_ratio"] = self.compression_ratio
+
+        data["travel_trajectories"] = self.travel_trajectories
+
+        # optional trajectories
+        opt_traj_attrs = (
+            "return_travel_trajectories",
+            "place_trajectories",
+            "return_place_trajectories",
         )
 
+        for attr in opt_traj_attrs:
+            # Get value of property attribute (ending with "_")
+            # Returns none if there is no value set explicitly
+            attr_value = getattr(self, attr + "_", None)
+            if attr_value:
+                data[attr] = attr_value.to_data()
+
         return data
 
     @data.setter

src/rapid_clay_formations_fab/fab_data/tools.py

@@ -103,7 +103,7 @@ def load_fabrication_elements(path_or_dict):
     """
     fab_data = _get_fab_data(path_or_dict)
 
-    if fab_data.get("compression_ratio"):
+    if fab_data[0].get("travel_trajectories"):
         return [PlaceElement.from_data(data) for data in fab_data]
 
     return [FabricationElement.from_data(data) for data in fab_data]

src/rapid_clay_formations_fab/robots/trajectories.py

@@ -8,7 +8,6 @@
 
 from compas.geometry import Frame
 from compas_fab.robots import Configuration
-from compas_fab.robots import JointTrajectoryPoint
 from compas_fab.robots import to_degrees
 from compas_rrc import RobotJoints
 
@@ -159,26 +158,21 @@ def data(self):
 
     @data.setter
     def data(self, data):
+        print("Data: {}".format(data))
+        print("Type: {}".format(type(data)))
         if data["points"][0].get("xaxis"):  # check if data is of frame.data
             self.points = [Frame.from_data(pt) for pt in data["points"]]
-        # check if first elem is JointTrajectoryPoint dict
-        elif data["points"][0].get("types"):
+        # check if first elem is Configuration dict
+        elif data["points"][0].get("values"):
             self.points = [Configuration.from_data(pt) for pt in data["points"]]
         else:
-            raise NotImplementedError(
-                "Object type not supported: {}".format(type(data[0]))
-            )
-
-    @property
-    def robot_joints_points(self):
-        """:obj:`list` of :class:`compas_rrc.RobotJoints` : Trajectory as list of ``RobotJoints``."""  # noqa: E501
-        return [RobotJoints(*to_degrees(pt)) for pt in self.points]
+            raise NotImplementedError("Object not recognized.")
 
     @property
     def trajectory_type(self):
         """:obj:`type` : Return the type of elements in the trajectory."""
         self._raise_if_mixed_types()
-        if isinstance(self[0], JointTrajectoryPoint):
+        if isinstance(self[0], Configuration):
             return self.JOINT_TRAJECTORY
         if isinstance(self[0], Frame):
             return self.FRAME_TRAJECTORY
@@ -194,6 +188,10 @@ def _raise_if_mixed_types(self):
                 "Trajectory contains more than one type of objects: {}".format(types)
             )
 
+    def as_robot_joints_points(self):
+        """:obj:`list` of :class:`compas_rrc.RobotJoints` : Trajectory as list of ``RobotJoints``."""  # noqa: E501
+        return [RobotJoints(*to_degrees(pt.values)) for pt in self.points]
+
     def copy(self):
         """Get an independent copy of object."""
         cls = type(self)