Onshape-to-robot documentation
==============================

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What is this ?
~~~~~~~~~~~~~~

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``onshape-to-robot`` is a tool that allows you to export robots designed from the **Onshape CAD** software
to descriptions format like **URDF**, **SDF** or **MuJoCo**, so that you can use them for physics simulation or in your running code
(requesting frames, computing dynamics etc.)

* `onshape-to-robot GitHub repository <https://github.com/rhoban/onshape-to-robot/>`_
* `Robots examples GitHub repository <https://github.com/rhoban/onshape-to-robot-examples/>`_
* `onshape-to-robot on pypi <https://pypi.org/project/onshape-to-robot/>`_
* `video tutorial <https://www.youtube.com/watch?v=C8oK4uUmbRw>`_ (some information may be outdated)

.. toctree::
   :maxdepth: 2
   :caption: Contents:

   getting_started
   design
   config
   exporter_urdf
   exporter_sdf
   exporter_mujoco
   kinematic_loops
   processors
   cache