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support continuous joints #104
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Unsure how to properly request a review. @Gregwar does this look appropriate to merge? |
@atticusrussell Additionaly, It'd be cleaner if the |
Hello, sorry to be late here! The change seems good but I agree with @DevnathNair that the property should not be in the dof names. If we merge this, we would have 3 "modifiers" on the DOFs:
So we could have Maybe those could move to the "joints": {
"shaft1": {
"invert": true,
"continuous": true
}
} This could also be tweaked to merge this configuration so that custom joint limits or max efforts could be overwritten here. Maybe this is out of the scope, we can merge and open another issue to update the way it is handled in a future version. What are your thoughts? |
@Gregwar I agree. However, I suggest we keep the As far as I can tell, we should be able to let Maybe a "joint_group" key could be added to the parser and config.json to assign properties en-masse like so: { "joints": { "shaft1": { "invert": true, "continuous": true }, "shaft2": {}, "shaft3": {} }, "joint_group": { "joints": ["shaft1", "shaft2", "shaft3"], "properties": { "continuous": true } } } |
Maybe another way to achieve this would be to have a "default" entry in the joints list that defines the fallback values for each joints: {
"joints": {
"default": {
"continous": true
},
"joint1": {
"invert": true
}
}
} |
Anyway, the PR is harmless, let's merge and discuss this in another thread |
Cylindrical and Revolute Onshape mates with "continuous" or "wheel" in the name are created as continuous joints. Addresses part of #99.
I tested and confirmed the functionality of my changes using a known good Onshape assembly.