Jerry
45 lines
1.1 KiB
Python
45 lines
1.1 KiB
Python
from __future__ import annotations
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SOURCE_REF = "@cad[STEP/robot_arm#o1.19]"
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BASE_PLATE_BOTTOM_Y_MM = -32.9752
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BASE_PLATE_TOP_Y_MM = -29.8002
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BASE_LINK_FLOOR_Y_OFFSET_MM = -BASE_PLATE_BOTTOM_Y_MM
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STS3250_BASE_PLATE_FACE_LOCAL_Y_MM = -27.4
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STS3250_BASE_PLATE_FLUSH_Y_OFFSET_MM = (
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BASE_PLATE_TOP_Y_MM
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- STS3250_BASE_PLATE_FACE_LOCAL_Y_MM
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)
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STS3250_BASE_PLATE_TRANSFORM = [
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, BASE_LINK_FLOOR_Y_OFFSET_MM + STS3250_BASE_PLATE_FLUSH_Y_OFFSET_MM,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0,
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]
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BASE_PLATE_TRANSFORM = [
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, BASE_LINK_FLOOR_Y_OFFSET_MM,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0,
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]
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def gen_step() -> dict[str, object]:
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return {
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"instances": [
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{
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"path": "../parts/imports/sts3250.step",
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"name": "sts3250_3",
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"transform": STS3250_BASE_PLATE_TRANSFORM,
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},
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{
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"path": "../parts/base_plate.step",
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"name": "base_plate",
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"transform": BASE_PLATE_TRANSFORM,
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},
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],
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}
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