Giters

Rhoban / onshape-to-robot

Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API

Geek Repo:Geek Repo

Github PK Tool:Github PK Tool

create links made of multiple parts in longer open kinematic chains

Niklas-Mulsow opened this issue · comments

commented

Hello,

I tried to make my first steps and models with your tool this week. First let my say thanks you for made it.

I noticed, that it is not possible to connect the single parts to one link and then put another joint on it. So i had to put all parts for each links in a sub-assembly to built longer chains of joints and links.

In the onshape to robot tutorial video, you did that also in that way, but i thought you not mentioned explicit that all parts had to be in subassemblies.

Anyway, do you plan to change that?

commented

Hello,

Actually, this might be possible, but this requires analyzing the constraints from the assembly to deduce that a given part is belonging to a specific link.

I believe it could quickly result in hard-to-debug export problems, that is why I proposed to create a sub-assembly stage to have some hierarchy in the main assembly.

But yes, there is no theorical/technical limitation here, just some more software engineering

commented

Hi,

okay i can understand that. But then it is not just proposing. It is a must, to create subassemblies stages to make the export right. ;=)

Best
Niklas