Processors

Here is an overview of onshape-to-robot pipeline:

• (1): The assembly is retrieved from Onshape, to produce an intermediate representation of the robot. See the robot.py from the source code.

• (2): Some operations can be applied on this representation, those are the processors, some of them are listed below.

• (3): The robot is exported to the desired format (URDF, MuJoCo, etc.) using an exporter.

Note

If you want to tweak your robot in the process, do not hesitate to have a look at the export.py script, which is the entry point of the onshape-to-robot command, and summarize the above-listed steps.

Processors:

• Ball to Euler
  • Introduction
  • config.json entries
• Merge STLs
  • Introduction
  • config.json entries
• Simplify STLs
  • Introduction
  • Requirements
  • config.json entries
• OpenSCAD pure shapes approximation
  • Introduction
  • Requirements
  • Process
  • config.json entries
• Adding dummy base link
  • Introduction
  • config.json entries
• Removing collision meshes
  • Introduction
  • config.json entries
• Use collisions as visual
  • Introduction
  • config.json entries
• Convex decomposition (CoACD)
  • Introduction
  • config.json entries
• Using fixed links
  • Introduction
  • config.json entries
• Writing & registering custom Processor
  • Introduction
  • Minimal processor example
  • Registering your processor(s)