Managing DoF in subassembly

[thomasfla]

Hi, thanks for this super tool!

I'm wondering it is possible to have some DoF defined inside an assembly which is itself included inside a global assembly multiple time.
I guess this will lead to naming issues, but maybe could be fixed by adding a suffix?
At the moment, onshape-to-robot detects 0 dof.

It this is not doable, I can of course simply make a big assembly.

[Gregwar]

Hello,
I agree that it might be easier, but it would require deeper rework of the logic
Actually, some current constraints can be lightened by refactoring/rewriting onshape-to-robot, hopefuly I will have some time to do that someday

[Gregwar]

Just for the detail; currently the problem is also that non-dof relation (like two parts being fastened together) don't work on top-level assembly (that could also be improved)

[thomasfla]

Thanks for the fast response, I'll then do a separate flat "link level" assembly for the URDF export.

[Achllle]

This is a pretty important feature to have. Most complex assemblies will have DOFs defined in a subassembly.

@Gregwar, you wrote

it would require deeper rework of the logic
Actually, some current constraints can be lightened by refactoring/rewriting onshape-to-robot, hopefuly I will have some time to do that someday

Curious if that day will come soon? Alternatively I can try to tackle this one issue if you could share high level steps on how this is easiest accomplished - preferably without requiring a big refactor.

[Gregwar]

Big refactor happened recently
However there are still some work to be done if we want to reach that feature 🙂

From my current understanding on how I would implement that, there are underlying hard problems to tackle. Mostly, considering features in all the sub assemblies would mean that all the parts present in the robot would become candidates to be their very own link. In that case, it become less clear what is actually a body, it would need an analysis of all the features to understand which bodies are "weld" together and what can move.