fix(export): skip axis inference for fixed joints - #203
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Hwajila wants to merge 1 commit into
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brawner
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Sep 3, 2026
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| internal static bool JointUsesAxis(string jointType) |
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I don't think a separate function is needed. You can just put this logic directly into the places where it is called.
| link.Joint.CoordinateSystemName = "Automatically Generate"; | ||
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| if (!CheckRefAxisExists(link.Joint.AxisName)) | ||
| // Fixed URDF joints do not have an axis. Marking a missing fixed-joint axis |
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I don't think the comment is needed
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Problem
CheckRefGeometryExiststreats a missing or stale axis on every joint asAutomatically Generate.CreateJointthen invokes the automatic DOF estimator whenever the axis is automatic. For a fixed joint this work is unnecessary because fixed URDF joints have no axis. The estimator can temporarily fix/unfix components and suppress/unsuppress mates during export.This matches the fixed-joint behavior reported in #135.
Fix
Testing
Added five focused cases confirming that fixed joints do not use an axis while revolute, continuous, prismatic, and automatically detected joints do.
All five focused tests pass. The project also builds successfully in the x64 Test configuration (using the installed .NET 4.8 targeting pack as a local override; the project target is unchanged).
End-to-end validation on SolidWorks 2025 x64 showed no component fix/unfix or mate suppression operations during the patched export.
Addresses #135.