SW2URDF : error in generated values (RPY and axis)
Hello everyone,
I have an issue with the plugin SW2URDF (on Solidworks 2017). In the "Configure Joint Properties" window, some of my joints have errors in the axis fields. All the axis should be 1 or -1 on z, and 0 on x and y.
I created my own axes and links to avoid know bugs with the exporter. All the links and axes are valid in the assembly, and the axis are coaxial with the z axis from the links. All my previous exports worked great with this method. I checked the origins positions in X, Y and Z, they are valid too. Does anyone know why I have these values ? I need them to be correct in order to use an IK solver. Thanks,
Edith
Edit 2 :
The RPY values are wrong, wich may cause the error on the axis. XYZ values are right, there is no reason for RPY values to be wrong. Anyone had this issue ?
If the RPY values are incorrect and the axis is incorrect, I would first verify the coordinate system transforms are as expected. It's possible they are a tiny amount off, which would be hard to verify visually.
Yes, this is also what I think, because the coordinates systems have some issues. Do you know a way to get this matrix and to make sure that the coordinates systems are correct ? Is there a way to give 3D sketches to the exporter, instead of coordinates systems ? Or anything else (axis, points...) ?