Reverting default behavior to not remove onshape's <n> tags. Adding d…

…efault joint limits to revolute joints.
neurobionics · Jan 17, 2025 · 764b998 · 764b998
1 parent 54d4e92
commit 764b998
Show file tree

Hide file tree

Showing 3 changed files with 40 additions and 31 deletions.
diff --git a/onshape_robotics_toolkit/models/joint.py b/onshape_robotics_toolkit/models/joint.py
@@ -551,7 +551,16 @@ def from_xml(cls, element: ET.Element) -> "RevoluteJoint":
         mimic_element = element.find("mimic")
         mimic = JointMimic.from_xml(mimic_element) if mimic_element is not None else None
 
-        return cls(name, parent, child, origin, axis, limits, dynamics, mimic)
+        return cls(
+            name=name,
+            parent=parent,
+            child=child,
+            origin=origin,
+            axis=axis,
+            limits=limits,
+            dynamics=dynamics,
+            mimic=mimic,
+        )
 
     @property
     def joint_type(self) -> str:

diff --git a/onshape_robotics_toolkit/urdf.py b/onshape_robotics_toolkit/urdf.py
@@ -24,8 +24,8 @@
     BaseJoint,
     DummyJoint,
     FixedJoint,
+    JointLimits,
     # JointDynamics,
-    # JointLimits,
     JointMimic,
     PrismaticJoint,
     RevoluteJoint,
@@ -233,12 +233,12 @@ def get_robot_joint(
                 parent=parent,
                 child=child,
                 origin=origin,
-                # limits=JointLimits(
-                #     effort=1.0,
-                #     velocity=1.0,
-                #     lower=-np.pi,
-                #     upper=np.pi,
-                # ),
+                limits=JointLimits(
+                    effort=1.0,
+                    velocity=1.0,
+                    lower=-2 * np.pi,
+                    upper=2 * np.pi,
+                ),
                 axis=Axis((0.0, 0.0, -1.0)),
                 # dynamics=JointDynamics(damping=0.1, friction=0.1),
                 mimic=mimic,
@@ -293,12 +293,12 @@ def get_robot_joint(
                 parent=parent,
                 child=dummy_x.name,
                 origin=origin,
-                # limits=JointLimits(
-                #     effort=1.0,
-                #     velocity=1.0,
-                #     lower=-np.pi,
-                #     upper=np.pi,
-                # ),
+                limits=JointLimits(
+                    effort=1.0,
+                    velocity=1.0,
+                    lower=-2 * np.pi,
+                    upper=2 * np.pi,
+                ),
                 axis=Axis((1.0, 0.0, 0.0)),
                 # dynamics=JointDynamics(damping=0.1, friction=0.1),
                 mimic=mimic,
@@ -308,12 +308,12 @@ def get_robot_joint(
                 parent=dummy_x.name,
                 child=dummy_y.name,
                 origin=Origin.zero_origin(),
-                # limits=JointLimits(
-                #     effort=1.0,
-                #     velocity=1.0,
-                #     lower=-np.pi,
-                #     upper=np.pi,
-                # ),
+                limits=JointLimits(
+                    effort=1.0,
+                    velocity=1.0,
+                    lower=-2 * np.pi,
+                    upper=2 * np.pi,
+                ),
                 axis=Axis((0.0, 1.0, 0.0)),
                 # dynamics=JointDynamics(damping=0.1, friction=0.1),
                 mimic=mimic,
@@ -323,12 +323,12 @@ def get_robot_joint(
                 parent=dummy_y.name,
                 child=child,
                 origin=Origin.zero_origin(),
-                # limits=JointLimits(
-                #     effort=1.0,
-                #     velocity=1.0,
-                #     lower=-np.pi,
-                #     upper=np.pi,
-                # ),
+                limits=JointLimits(
+                    effort=1.0,
+                    velocity=1.0,
+                    lower=-2 * np.pi,
+                    upper=2 * np.pi,
+                ),
                 axis=Axis((0.0, 0.0, -1.0)),
                 # dynamics=JointDynamics(damping=0.1, friction=0.1),
                 mimic=mimic,

diff --git a/onshape_robotics_toolkit/utilities/helpers.py b/onshape_robotics_toolkit/utilities/helpers.py
@@ -278,7 +278,7 @@ def make_unique_name(name: str, existing_names: set[str]) -> str:
     return f"{name}-{count}"
 
 
-def get_sanitized_name(name: str, replace_with: str = "_", remove_onshape_tags: bool = True) -> str:
+def get_sanitized_name(name: str, replace_with: str = "_", remove_onshape_tags: bool = False) -> str:
     """
     Sanitize a name by removing special characters, preserving only the specified
     replacement character, and replacing spaces with it. Ensures no consecutive
@@ -289,18 +289,18 @@ def get_sanitized_name(name: str, replace_with: str = "_", remove_onshape_tags:
     Args:
         name (str): Name to sanitize.
         replace_with (str): Character to replace spaces and other special characters with (default is '_').
-        remove_onshape_tags (bool): If True, removes a trailing " <n>" tag where n is a number. Default is True.
+        remove_onshape_tags (bool): If True, removes a trailing " <n>" tag where n is a number. Default is False.
 
     Returns:
         str: Sanitized name.
 
     Examples:
         >>> get_sanitized_name("wheel1 <3>")
-        "wheel1"
-
-        >>> get_sanitized_name("wheel1 <3>", remove_onshape_tags=False)
         "wheel1_3"
 
+        >>> get_sanitized_name("wheel1 <3>", remove_onshape_tags=True)
+        "wheel1"
+
         >>> get_sanitized_name("wheel1 <3>", replace_with='-', remove_onshape_tags=False)
         "wheel1-3"
     """