bb87928bce
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
52 lines
1.7 KiB
Python
52 lines
1.7 KiB
Python
from .processor import Processor
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from .config import Config
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from .robot import Robot, Link, Joint
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from .message import info
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import fnmatch
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class ProcessorFixedLinks(Processor):
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"""
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Fixed links processor.
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When enabled, crawl all the links, and split them into sublinks containing all one part.
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"""
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def __init__(self, config: Config):
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super().__init__(config)
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# Check if it is enabled in configuration
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self.use_fixed_links: bool | list = config.get("use_fixed_links", False)
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def should_fix_links(self, link_name: str) -> bool:
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if self.use_fixed_links == True:
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return True
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elif isinstance(self.use_fixed_links, list):
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for entry in self.use_fixed_links:
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if fnmatch.fnmatch(link_name, entry):
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return True
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return False
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def process(self, robot: Robot):
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if self.use_fixed_links:
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print(info(f"Using fixed links ({self.use_fixed_links})"))
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new_links = []
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for link in robot.links:
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if self.should_fix_links(link.name):
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for part in link.parts:
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part_link = Link(f"{link.name}_{part.name}")
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part_link.parts = [part]
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new_links.append([link, part_link])
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link.parts = []
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for parent_link, new_link in new_links:
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robot.links.append(new_link)
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robot.joints.append(
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Joint(
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f"{new_link.name}_fixed",
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Joint.FIXED,
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parent_link,
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new_link,
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new_link.parts[0].T_world_part,
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)
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)
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