Import upstream snapshot 80e710700aac9573a2230f74f7ce9e094833a0bc

Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
2026-08-28 15:42:31 +08:00
commit bb87928bce
107 changed files with 16958 additions and 0 deletions
@@ -0,0 +1,36 @@
+import numpy as np
+from .processor import Processor
+from .config import Config
+from .robot import Robot, Link, Joint
+
+
+class ProcessorDummyBaseLink(Processor):
+    """
+    Fixed links processor.
+    When enabled, crawl all the links, and split them into sublinks containing all one part.
+    """
+
+    def __init__(self, config: Config):
+        super().__init__(config)
+
+        # Check if it is enabled in configuration
+        self.add_dummy_base_link: bool = config.get("add_dummy_base_link", False)
+
+    def process(self, robot: Robot):
+        if self.add_dummy_base_link:
+            new_base_link = Link("base_link")
+            new_base_link.fixed = True
+            robot.links.append(new_base_link)
+
+            for base_link in robot.base_links:
+                robot.joints.append(
+                    Joint(
+                        "base_link_to_" + base_link.name,
+                        "fixed",
+                        new_base_link,
+                        base_link,
+                        np.eye(4),
+                    )
+                )
+
+            robot.base_links = [new_base_link]