Changed the parent link of attachments

clearpathrobotics · Nov 14, 2023 · ddc20f3 · ddc20f3
1 parent 47212fc
commit ddc20f3
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/clearpath_config/platform/attachments/a200.py b/clearpath_config/platform/attachments/a200.py
@@ -40,13 +40,14 @@ class A200TopPlate(BaseAttachment):
     LARGE = "large"
     PACS = "pacs"
     MODELS = [DEFAULT, LARGE, PACS]
+    PARENT = "mid_mount"
 
     def __init__(
             self,
             name: str = ATTACHMENT_MODEL,
             model: str = DEFAULT,
             enabled: bool = BaseAttachment.ENABLED,
-            parent: str = Accessory.PARENT,
+            parent: str = PARENT,
             xyz: List[float] = Accessory.XYZ,
             rpy: List[float] = Accessory.RPY
             ) -> None:
@@ -60,14 +61,15 @@ class A200Bumper(Bumper):
     EXTENSION = 0.0
     DEFAULT = "default"
     MODELS = [DEFAULT]
+    PARENT = "front_bumper_mount"
 
     def __init__(
             self,
             name: str = ATTACHMENT_MODEL,
             model: str = DEFAULT,
             enabled: bool = BaseAttachment.ENABLED,
             extension: float = EXTENSION,
-            parent: str = Accessory.PARENT,
+            parent: str = PARENT,
             xyz: List[float] = Accessory.XYZ,
             rpy: List[float] = Accessory.RPY
             ) -> None:
@@ -81,13 +83,14 @@ class A200SensorArch(BaseAttachment):
     ARCH_510 = "sensor_arch_510"
     DEFAULT = ARCH_300
     MODELS = [ARCH_300, ARCH_510]
+    PARENT = "mid_mount"
 
     def __init__(
             self,
             name: str = ATTACHMENT_MODEL,
             model: str = DEFAULT,
             enabled: bool = BaseAttachment.ENABLED,
-            parent: str = Accessory.PARENT,
+            parent: str = PARENT,
             xyz: List[float] = Accessory.XYZ,
             rpy: List[float] = Accessory.RPY
             ) -> None:

diff --git a/clearpath_config/platform/attachments/j100.py b/clearpath_config/platform/attachments/j100.py
@@ -57,6 +57,7 @@ class J100TopPlate(BaseAttachment):
     ARK_ENCLOSURE = "ark_enclosure"
     DEFAULT = ARK_ENCLOSURE
     MODELS = [DEFAULT]
+    PARENT = "mid_mount"
 
     def __init__(
             self,