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Rhoban / onshape-to-robot

Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API
MIT License
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accuracy improvement #97

Closed Virgileboat closed 1 year ago

Virgileboat commented 1 year ago

Improve the accuracy of the joint placement on the urdf model, from 1e-7 to 1e-20.

Gregwar commented 1 year ago

Thanks for contributing

qiayuanl commented 3 weeks ago

Why do we need such high precision? Such precision is meaningless in robotics (fabrication error is much larger). It hurts readers when they read the URDF manually. In addition, the material color is also changed to such high precision, which doesn't make any sense.

Futhermore, the precision in Onshape may be limited. Running the script multiple times, even with changes only in specific parts, often results in slight variations in the inertia and mass of other unchanged parts, affecting the last few digits. This inconsistency complicates version control with tools like Git!

Here is an example:

image

Strongly suggest that revert this PR.