`Resource`: turn about a joint, and the links and end-effectors that need it - #1249

Merged

BioCam merged 39 commits into

PyLabRobot:mainfrom

BioCam:resources-manipulator-primitives

Sep 13, 2026

Commits on Sep 9, 2026

`Resource`: turn about a joint, and the links and end-effectors that need it

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a83b0e1

Commits on Sep 10, 2026

`MechanicalGripper`: define an end-effector by its mechanical interface and tool centre point

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bbede49
`MechanicalGripper`: drop the `Finger` class, which held nothing a `Resource` does not

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70e43f4
`MechanicalGripper`: delete `bolt_on` and place each part where it goes

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f8b889f
`MechanicalGripper`: take each part as a size and a place, not a five-number tuple

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bb3100a
`MechanicalGripper`: name a part's placement `location`, as the resource model does

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`MechanicalGripper`: drop two assertions and a test that cannot fail

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aefedd2
`Link`: drop `far_joint`, which was neither far nor a joint

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949d41f
`MechanicalGripper`: take the material as resources, and only place it

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28ad26d
`MechanicalGripper`: name the test's part sizes instead of indexing them

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`MechanicalGripper`: build the test's fixture from a gripper that exists

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18f2dec
`MechanicalGripper`: let a gripper have bare fingers, and check a width in one place

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b4f2774
`Link`: test that a child link's angle composes on its parent's

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`Resource`: add `rotate_to`, the go-to partner to `rotate`'s move-by

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f600d66
`Link`: turn on the joint through `rotate`, rather than around it

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393b574
Merge upstream/main: compose the pivot on top of quaternion rotation

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0913ddd
`Resource`: turn through one shared pivot, and go to an angle exactly

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8fcaea7
`Resource`: leave `rotate` and `rotated` alone, and pivot only where it is used

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88bb90d

Commits on Sep 11, 2026

`Resource`: test the pivot about every axis, not only z

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33c5ac4
`Resource`: drop two pivot tests that protected nothing

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098e9fc
`Resource`: go to an angle without a pivot, and drop the joint nothing turned on

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809c0cf
`MechanicalGripper`: make `jaw_width` the gap the fingers leave, not their centre spacing

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2f1364a
`Link`, `MechanicalGripper`: come back from `serialize` whole

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6104cd3
`MechanicalGripper`: assert what the pad tests claimed to

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406cbe4
`MechanicalGripper`: let the grip centre sit off the plane it is mounted on

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4a3c346
`MechanicalGripper`: take the tool centre point as one offset

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ac950af
`Resource`: turn about a coordinate other than its own origin

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905034d
`Resource`: type the pivot test's closure so mypy can see through it

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d22f4e4
`Resource`: let an unplaced resource turn about a pivot rather than refusing

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a6056b7
`LinkBody`: make a link's member a cuboid and its joints coordinates inside it

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9e0a9ad
`Resource`: hold a pivot where the location chain actually starts

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ccbee82
`MechanicalGripper`: close the jaws on the grip centre, and state the body once

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`LinkBody`: test a member and the tool it carries as one arm

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a6c5b55
docs: list the manipulator primitives in the changelog and the API index

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`Resource`: decide once whether a turn is pivoted

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8586c24

Commits on Sep 13, 2026

`MechanicalGripper`: find its parts by name when it is rebuilt

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`MechanicalGripper`: keep its metadata, barcode and pickup location when rebuilt

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`MechanicalGripper`: say which `__init__` does not take what `deserialize` restores

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2e649a1
`Resource.rotated`: pass `pivot_coordinate` to `rotate` only when one is given

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0a3cee4