From 1876928ec2d7d38fbb0de2193a9f712cf2905622 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Fri, 22 Mar 2024 11:46:19 -0400 Subject: [PATCH] W200 attachments default to 0 --- clearpath_config/platform/attachments/w200.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/clearpath_config/platform/attachments/w200.py b/clearpath_config/platform/attachments/w200.py index 70e5ed3..e091e42 100644 --- a/clearpath_config/platform/attachments/w200.py +++ b/clearpath_config/platform/attachments/w200.py @@ -36,7 +36,7 @@ class W200Generator(BaseAttachment): DEFAULT = "default" MODELS = [DEFAULT] PARENT = "default_mount" - XYZ = [-0.42506, 0.0, 0.0017] + XYZ = [0.0, 0.0, 0.0] RPY = [0.0, 0.0, 0.0] def __init__( @@ -55,10 +55,10 @@ class W200Bulkhead(BaseAttachment): PLATFORM = Platform.W200 ATTACHMENT_MODEL = "%s.bulkhead" % PLATFORM DEFAULT = "default" - ARM_MOUNT = "arm_mount" - MODELS = [DEFAULT, ARM_MOUNT] + ARM_PLATE = "arm_plate" + MODELS = [DEFAULT, ARM_PLATE] PARENT = "default_mount" - XYZ = [0.00705, 0.0, 0.24184] + XYZ = [0.0, 0.0, 0.0] RPY = [0.0, 0.0, 0.0] def __init__( @@ -73,9 +73,9 @@ def __init__( super().__init__(name, model, enabled, parent, xyz, rpy) -class W200ArmMount(BaseAttachment): +class W200ArmPlate(BaseAttachment): PLATFORM = Platform.W200 - ATTACHMENT_MODEL = "%s.arm_mount" % PLATFORM + ATTACHMENT_MODEL = "%s.arm_plate" % PLATFORM DEFAULT = "default" MODELS = [DEFAULT] PARENT = "default_mount" @@ -101,11 +101,11 @@ class W200Attachment(PlatformAttachment): GENERATOR = W200Generator.ATTACHMENT_MODEL # Bulkhead BULKHEAD = W200Bulkhead.ATTACHMENT_MODEL - # ArmMount - ARM_MOUNT = W200ArmMount.ATTACHMENT_MODEL + # ArmPlate + ARM_PLATE = W200ArmPlate.ATTACHMENT_MODEL TYPES = { GENERATOR: W200Generator, BULKHEAD: W200Bulkhead, - ARM_MOUNT: W200ArmMount + ARM_PLATE: W200ArmPlate }