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better joint limits #97

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merged 3 commits into from
Sep 19, 2024
Merged

better joint limits #97

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b63f705
better joint limits
codekansas Sep 19, 2024
452f27e
fix lint
codekansas Sep 19, 2024
14f2bbc
fix lint
codekansas Sep 19, 2024
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42 changes: 24 additions & 18 deletions kol/onshape/download.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1049,6 +1049,28 @@ def get_effort_and_velocity(name: str, default_effort: float, default_velocity:
break
return effort, velocity

def get_joint_limits(
joint_limits: JointLimits | None,
default_limits: tuple[float, float] | None,
is_axial: bool,
) -> tuple[float | None, float | None]:
min_value: float | None = None
max_value: float | None = None
if joint_limits is not None:
if is_axial:
min_value = resolve(joint_limits.axial_z_min_expression)
max_value = resolve(joint_limits.axial_z_max_expression)
else:
min_value = resolve(joint_limits.z_min_expression)
max_value = resolve(joint_limits.z_max_expression)
if min_value is None or max_value is None:
new_min_value, new_max_value = (None, None) if default_limits is None else default_limits
if min_value is None:
min_value = new_min_value
if max_value is None:
max_value = new_max_value
return min_value, max_value

name = doc.key_namer(joint.joint_key, "joint")
origin = urdf.Origin.from_matrix(parent_stl_origin_to_mate_tf)
mate_type = joint.mate_type
Expand All @@ -1067,15 +1089,7 @@ def get_effort_and_velocity(name: str, default_effort: float, default_velocity:
parent, child = doc.key_namer(joint.parent, "link"), doc.key_namer(joint.child, "link")
mimic_joint = doc.mate_relations.get(joint.joint_key)

if joint_limits is None:
min_value, max_value = (
(None, None)
if config.default_revolute_joint_limits is None
else config.default_revolute_joint_limits
)
else:
min_value = resolve(joint_limits.axial_z_min_expression)
max_value = resolve(joint_limits.axial_z_max_expression)
min_value, max_value = get_joint_limits(joint_limits, config.default_revolute_joint_limits, is_axial=False)

if min_value is None or max_value is None:
raise ValueError(f"Revolute joint {name} ({parent} -> {child}) does not have limits defined.")
Expand Down Expand Up @@ -1113,15 +1127,7 @@ def get_effort_and_velocity(name: str, default_effort: float, default_velocity:
parent, child = doc.key_namer(joint.parent, "link"), doc.key_namer(joint.child, "link")
mimic_joint = doc.mate_relations.get(joint.joint_key)

if joint_limits is None:
min_value, max_value = (
(None, None)
if config.default_prismatic_joint_limits is None
else config.default_prismatic_joint_limits
)
else:
min_value = resolve(joint_limits.axial_z_min_expression)
max_value = resolve(joint_limits.axial_z_max_expression)
min_value, max_value = get_joint_limits(joint_limits, config.default_prismatic_joint_limits, is_axial=True)

if min_value is None or max_value is None:
raise ValueError(f"Slider joint {name} ({parent} -> {child}) does not have limits defined.")
Expand Down
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