pylabrobot.resources.LinkBody#

class pylabrobot.resources.LinkBody(name: str, size_x: float, size_y: float, size_z: float, proximal_joint: Coordinate, distal_joint: Coordinate | None = None, category: str = 'link_body', model: str | None = None)#

Bases: Resource

One of the rigid members an arm is built from, joined to its neighbours by joints.

Its origin is a corner, as any resource’s is, and neither joint is obliged to sit there. It turns about proximal_joint, so a caller moves one with rotate(z=angle, pivot_coordinate=body.proximal_joint).

A member that ends the chain has no distal_joint, because nothing attaches past it. What sits at the far end of its span is that subclass’s own business, and so is its length.

Attributes

`length`	How long the link is, joint to joint, in mm.
`location`	Where this resource sits, relative to its parent.
`name`	Get the name of this resource.

Methods

`__init__`(name, size_x, size_y, size_z, ...)
`assign_child_by_anchor`(resource[, ...])	Assign a child resource by aligning anchor points.
`assign_child_resource`(resource, location[, ...])	Assign a child resource to this resource.
`at`(location)	Return a copy of this resource at the given location.
`center`([x, y, z])	Get the center of this resource.
`centers`([xn, yn, zn])	Get equally spaced points in the x, y, and z directions.
`check_can_drop_resource_here`(resource, *[, ...])	Validate whether `resource` may be dropped onto this resource.
`copy`()
`deregister_did_assign_resource_callback`(callback)	Remove a callback that will be called after a resource is assigned to this resource.
`deregister_did_unassign_resource_callback`(...)	Remove a callback that will be called after a resource is unassigned from this resource.
`deregister_state_update_callback`(callback)	Remove a callback that will be called when the state of the resource changes.
`deregister_will_assign_resource_callback`(...)	Remove a callback that will be called before a resource is assigned to this resource.
`deregister_will_unassign_resource_callback`(...)	Remove a callback that will be called before a resource is unassigned from this resource.
`deserialize`(data[, allow_marshal])	Deserialize a resource from a dictionary.
`find_resource`([fn, metadata, has_metadata, ...])	Find the first matching resource, or None if not found.
`find_resources`([fn, metadata, has_metadata, ...])	Find resources matching top-level attributes, metadata, and/or a predicate.
`get_absolute_location`([x, y, z])	Get the absolute location of this resource, probably within the `pylabrobot.resources.Deck`.
`get_absolute_rotation`()	Get the absolute rotation of this resource.
`get_absolute_size_x`()	Get the absolute size in the x direction.
`get_absolute_size_y`()	Get the absolute size in the y direction.
`get_absolute_size_z`()	Get the absolute size in the z direction.
`get_all_children`()	Recursively get all children of this resource.
`get_anchor`([x, y, z])	Get a relative location within the resource.
`get_highest_known_point`()	Recursively finds the highest known point in absolute space.
`get_location_wrt`(other[, x, y, z])	Get the location of this resource with respect to another resource.
`get_resource`(name)	Get a resource by name.
`get_root`()	Get the root of the resource tree.
`get_size_x`()	Local size in the x direction.
`get_size_y`()	Local size in the y direction.
`get_size_z`()	Local size in the z direction.
`has_resource`(name)	Whether anything at or beneath this resource carries the given name.
`is_in_subtree_of`(other)	Return `True` if `self` is in the subtree rooted at `other`.
`load_all_state`(state)	Load state for this resource and all children.
`load_from_json_file`(json_file)	Loads resources from a JSON file.
`load_state`(state)	Load state for this resource only.
`load_state_from_file`(fn)	Load the state of this resource and all children from a JSON file.
`named`(name)	Return a copy of this resource with the given name.
`register_did_assign_resource_callback`(callback)	Add a callback that will be called after a resource is assigned to this resource.
`register_did_unassign_resource_callback`(callback)	Add a callback that will be called after a resource is unassigned from this resource.
`register_state_update_callback`(callback)	Register a callback that will be called when the state of the resource changes.
`register_will_assign_resource_callback`(callback)	Add a callback that will be called before a resource is assigned to this resource.
`register_will_unassign_resource_callback`(...)	Add a callback that will be called before a resource is unassigned from this resource.
`rotate`([x, y, z, pivot_coordinate])	Rotate counter-clockwise around the parent-coordinate axes by the given degrees.
`rotate_to`([x, y, z, pivot_coordinate])	Set the rotation about each axis, where `rotate` turns by an amount instead.
`rotated`([x, y, z, pivot_coordinate])	Return a copy of this resource rotated by the given number of degrees.
`save`(fn[, indent])	Save a resource to a JSON file.
`save_state_to_file`(fn[, indent])	Save the state of this resource and all children to a JSON file.
`serialize`()
`serialize_all_state`()	Serialize the state of this resource and all children.
`serialize_state`()	Serialize the state of this resource only.
`unassign`()	Unassign this resource from its parent.
`unassign_child_resource`(resource)	Unassign a child resource from this resource.

Parameters:

name (str)
size_x (float)
size_y (float)
size_z (float)
proximal_joint (Coordinate)
distal_joint (Coordinate | None)
category (str)
model (str | None)