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support continuous joints #104

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merged 2 commits into from
Aug 31, 2023
Merged

support continuous joints #104

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06c2038
add cont. joints using mate naming. Update docs.
atticusrussell Jul 6, 2023
ac2fedb
don't warn about continuous limits
atticusrussell Jul 6, 2023
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6 changes: 5 additions & 1 deletion docs/source/design.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,11 @@ Specifying degrees of freedom

* Degree of freedoms should be slider, cylindrical or revolute mate connectors named ``dof_something``, where
``something`` will be used to name the joint in the final document
* If the mate connector is **cylindrical** or **revolute**, a ``revolute`` joint will be issued

* If the mate connector is **cylindrical** or **revolute**, a ``revolute`` joint will be issued by default

* To make a ``continuous`` joint, add ``continuous`` or ``wheel`` in the name of the joint. For instance, a **revolute** mate named
``dof_front_left_wheel`` will result in a ``continuous`` joint named ``front_left_wheel`` in the resulting URDF.
* If the mate connector is a **slider**, a ``prismatic`` joint will be issued
* If the mate connector is **fastened**, a ``fixed`` joint will be issued
* When doing this connection, click the children joint first. This will be used to find the trunk of the robot (part with children but no parent)
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5 changes: 3 additions & 2 deletions onshape_to_robot/features.py
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Expand Up @@ -102,6 +102,7 @@ def getLimits(jointType, name):
if enabled:
return (minimum, maximum)
else:
print(Fore.YELLOW + 'WARNING: joint ' + name + ' of type ' +
jointType + ' has no limits ' + Style.RESET_ALL)
if jointType != 'continuous':
print(Fore.YELLOW + 'WARNING: joint ' + name + ' of type ' +
jointType + ' has no limits ' + Style.RESET_ALL)
return None
5 changes: 4 additions & 1 deletion onshape_to_robot/load_robot.py
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Expand Up @@ -167,7 +167,10 @@ def assignParts(root, parent):

limits = None
if data['mateType'] == 'REVOLUTE' or data['mateType'] == 'CYLINDRICAL':
jointType = 'revolute'
if 'wheel' in parts or 'continuous' in parts:
jointType = 'continuous'
else:
jointType = 'revolute'

if not config['ignoreLimits']:
limits = getLimits(jointType, data['name'])
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