Jerry
48 lines
1.2 KiB
Python
48 lines
1.2 KiB
Python
from __future__ import annotations
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import sys
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from pathlib import Path
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TOM_DIR = Path(__file__).resolve().parents[2]
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if str(TOM_DIR) not in sys.path:
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sys.path.insert(0, str(TOM_DIR))
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from v1.assemblies.robot_arm_link_common import (
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rebased_robot_arm_instances,
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translated_instances,
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)
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SOURCE_REF = "@cad[STEP/robot_arm#o1.11,o1.12,o1.13,o1.14,o1.15]"
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ANCHOR_INSTANCE_NAME = "quinary_servo_2020_connector"
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EXTRACTED_INSTANCE_NAMES = (
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"quinary_servo_2020_connector",
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"quinary_servo_hfs5_2020",
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"quinary_servo_end_bracket",
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"senary_servo_end_mount",
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"sts3215_6",
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)
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SERVO_END_MOUNT_FLUSH_Z_ADJUST_MM = 2.7308
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SERVO_END_MOUNT_INSTANCE_NAMES = frozenset(
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{
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"senary_servo_end_mount",
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"sts3215_6",
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}
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)
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def gen_step() -> dict[str, object]:
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instances = rebased_robot_arm_instances(
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source_ref=SOURCE_REF,
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anchor_instance_name=ANCHOR_INSTANCE_NAME,
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extracted_instance_names=EXTRACTED_INSTANCE_NAMES,
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)
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return {
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"instances": translated_instances(
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instances,
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names=SERVO_END_MOUNT_INSTANCE_NAMES,
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vector_xyz=(0.0, 0.0, 1.0),
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distance_mm=SERVO_END_MOUNT_FLUSH_Z_ADJUST_MM,
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),
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}
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