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Frames not detected off root assembly #78

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rsinnet opened this issue Jul 4, 2022 · 0 comments
Open

Frames not detected off root assembly #78

rsinnet opened this issue Jul 4, 2022 · 0 comments

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@rsinnet
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rsinnet commented Jul 4, 2022

Consider the following connection:

ROOT_ASSEMBLY -(dof_slider)-> ASSEMBLY_A -(frame_foo)-> ASSEMBLY_B

In the above case, ASSEMBLY_B will be omitted properly from the URDF in terms of meshes. HOWEVER, the expected frame does not appear.

FYI I fixed this in our fork by looking up the reassigned assembly after the assignation spreading step instead of the one returned by the API (which may be overwritten).
rsinnet pushed a commit to MisoRobotics/onshape-to-robot that referenced this issue Jul 4, 2022
Fix issue with missing frames not on root link
2ab417b 
Before this commit, frames that were present on a subassembly that is
not the main trunk assembly (first in the list in Onshape) would not be
added to the URDF. This was occurring because such a frame was being
associated to the parent subassembly as read in from Onshape, BUT this
fails to account for the reassignment process for non-trunk parts.

Refactor the functionality for appending frames to improve readability
and reduce duplicate code. Fix the bug by looking up the proper parent
assignment. Add print statements to improve diagnosability.

Fixes: Rhoban#78
rsinnet pushed a commit to MisoRobotics/onshape-to-robot that referenced this issue Jul 4, 2022
Fix issue with missing frames not on root link
b775111 
Before this commit, frames that were present on a subassembly that is
not the main trunk assembly (first in the list in Onshape) would not be
added to the URDF. This was occurring because such a frame was being
associated to the parent subassembly as read in from Onshape, BUT this
fails to account for the reassignment process for non-trunk parts.

Refactor the functionality for appending frames to improve readability
and reduce duplicate code. Fix the bug by looking up the proper parent
assignment. Add print statements to improve diagnosability.

Fixes: Rhoban#78
rsinnet pushed a commit to MisoRobotics/onshape-to-robot that referenced this issue Jul 4, 2022
Fix issue with missing frames not on root link
cd6d323 
Before this commit, frames that were present on a subassembly that is
not the main trunk assembly (first in the list in Onshape) would not be
added to the URDF. This was occurring because such a frame was being
associated to the parent subassembly as read in from Onshape, BUT this
fails to account for the reassignment process for non-trunk parts.

Refactor the functionality for appending frames to improve readability
and reduce duplicate code. Fix the bug by looking up the proper parent
assignment. Add print statements to improve diagnosability.

Fixes: Rhoban#78
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@rsinnet