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

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PyLabRobot:mainfrom

BioCam:resources-manipulator-primitives

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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df67426
`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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d6d3a5c
`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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1670e01
`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