bb87928bce
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
278 lines
9.2 KiB
ReStructuredText
278 lines
9.2 KiB
ReStructuredText
Configuration (config.json)
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===========================
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Specific entries
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----------------
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Below are the global configuration entries.
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You might also want to check out the following documentation for more specific entries:
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* Exporters
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* :doc:`URDF specific entries <exporter_urdf>`
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* :doc:`SDF specific entries <exporter_sdf>`
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* :doc:`MuJoCo specific entries <exporter_mujoco>`
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* :doc:`Processors <processors>` can define their own specific entries
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``config.json`` entries
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-----------------------
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Here is an example of complete ``config.json`` file, with details below:
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.. code-block:: javascript
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// config.json general options
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// for urdf or mujoco specific options, see documentation
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{
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// Onshape assembly URL
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"url": "https://cad.onshape.com/documents/11a7f59e37f711d732274fca/w/7807518dc67487ad405722c8/e/5233c6445c575366a6cc0d50",
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// Output format: urdf or mujoco (required)
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"output_format": "urdf",
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// Output filename (default: "robot")
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// Extension (.urdf, .xml) will be added automatically
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"output_filename": "robot",
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// Assets directory (default: "assets")
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"assets_directory": "assets",
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// If you don't use "url", you can alternatively specify the following
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// The Onshape document id to parse, see "getting started" (optional)
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"document_id": "document-id",
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// The document version id (optional)
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"version_id": "version-id",
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// The workspace id (optional)
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"workspace_id": "workspace-id",
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// Element id (optional)
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"element_id": "element-id",
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// Assembly name to use in the document (optional)
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"assembly_name": "robot",
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// Onshape configuration to use (default: "default")
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"configuration": "Configuration=BigFoot;RodLength=50mm",
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// Robot name (default: "onshape")
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"robot_name": "robot",
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// Ignore limits (default: false)
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"ignore_limits": true,
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// Parts to ignore (default: {})
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"ignore": {
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// Ignore visual for visual
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"part1": "visual",
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"screw*": "visual",
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// Ignore everything expect "leg" for collision
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"*" : "collision"
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"!leg": "collision"
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},
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// Whether to keep frame links (default: false)
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"draw_frames": true,
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// Override the color of all links (default: None)
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"color": [0.5, 0.1, 0.1],
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// Disable dynamics retrieval (default: false)
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"no_dynamics": true,
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// Whether to include configuration suffix to part (stl) files (default: true)
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"include_configuration_suffix": false,
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// Post import commands (default: [])
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"post_import_commands" [
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"echo 'Import done'",
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"echo 'Do something else'"
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],
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// Custom processors
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"processors": [
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"my_project.my_custom_processor:MyCustomProcessor"
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],
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// Number of decimals to round numerical values (default: 12)
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"round_decimals": 12
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// More options available in specific exporters (URDF, SDF, MuJoCo)
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// More options available in processors
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}
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.. note::
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Comments are supported in the ``config.json`` file.
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.. note::
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Since ``1.0.0``, all configuration entries are now snake case. For backward compatibility reasons, the old
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camel case entries are still supported. (for example, ``document_id`` and ``documentId`` are equivalent).
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``url`` *(required)*
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~~~~~~~~~~~~~~~~~~~~
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The Onshape URL of the assembly to be exported. Be sure you are on the correct tab when copying the URL.
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``output_format`` *(required)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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**required**
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This should be either ``urdf`` or ``mujoco`` to specify which output format is wanted for robot description
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created by the export.
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``output_filename`` *(default: robot)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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This is the name of the output file without extension. By default "robot" (for example: ``robot.urdf``, ``robot.sdf`` or ``robot.xml``).
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``assets_directory`` *(default: "assets")*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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This is the directory where the assets (like meshes) will be stored.
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``assembly_name`` *(optional)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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This can be used to specify the name of the assembly (in the Onshape document) to be used for robot export.
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If this is not provided, ``onshape-to-robot`` will list the assemblies. If more than one assembly is found,
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an error will be raised.
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``document_id`` *(optional)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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If you don't specify the URL, this is the onshape ID of the document to be imported. It can be found in the Onshape URL,
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just after ``document/``.
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.. code-block:: bash
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https://cad.onshape.com/documents/XXXXXXXXX/w/YYYYYYYY/e/ZZZZZZZZ
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^^^^^^^^^
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This is the document id
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``version_id`` *(optional)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~
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If you don't specify the URL, this argument can be used to use a specific version of the document instead of the last one. The version ID
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can be found in URL, after the ``/v/`` part when selecting a specific version in the tree.
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If it is not specified, the workspace will be retrieved and the live version will be used.
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``workspace_id`` *(optional)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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If you don't specify the URL, this argument can be used to use a specific workspace of the document. This can be used for specific branches
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ofr your robot without making a version.
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The workspace ID can be found in URL, after the ``/w/`` part when selecting a specific version in the tree.
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``element_id`` *(optional)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~
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If you don't specify the URL, this argument can be used to use a specific element of the document.
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The element ID can be found in URL, after the ``/e/`` part when selecting a specific version in the tree.
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``configuration`` *(default: "default")*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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This is the robot configuration string that will be passed to Onshape. Lists, booleans and quantities are allowed. For example:
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.. image:: _static/img/configuration.png
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:width: 300px
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:align: center
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Should be written as the following:
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.. code-block:: text
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Configuration=Long;RemovePart=true;Length=30mm
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.. note::
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Alternatively, you can specify the configuration as a dictionary:
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.. code-block:: json
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{
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// ...
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"configuration": {
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"Configuration": "Long",
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"RemovePart": true,
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"Length": "30mm"
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}
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}
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``robot_name`` *(default: "dirname")*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Specifies the robot name. This value is typically present in the header of the exported files.
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If it is not specified, the directory name will be used.
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``ignore_limits`` *(default: false)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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If set to ``true``, the joint limits coming from Onshape will be ignored during export.
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``ignore`` *(default: {})*
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~~~~~~~~~~~~~~~~~~~~~~~~~~
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This can be a list of parts that you want to be ignored during the export.
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Alternatively, you can use a dict, where the values are either ``all``, ``visual`` or ``collision``. The rules will apply in order of appearance.
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You can use wildcards ``*`` to match multiple parts.
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You can prefix the part name with ``!`` to exclude it from the rule. For example, the following will ignore all parts for visual, except the ``leg`` part, turning the ignore list to a whitelist:
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.. code-block:: json
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{
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// Ignore everything from visual
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"*": "collision",
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// Except the leg part
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"!leg": "collision"
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}
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.. note::
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The dynamics of the part will not be ignored, but the visual and collision aspect will.
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.. _draw-frames:
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``draw_frames`` *(default: false)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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When , the part that is used for positionning the frame is
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by default excluded from the output description (a dummy link is kept instead). Passing this option to ``true`` will
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keep it instead.
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``no_dynamics`` *(default: false)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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This flag can be set if there is no dynamics. In that case all masses and inertia will be set to 0.
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In pyBullet, this will result in static object (think of some environment for example).
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``color`` *(default: None)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Can override the color for parts (should be an array: ``[r, g, b]`` with numbers from 0 to 1)
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``include_configuration_suffix`` *(default: true)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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When this flag is set to ``true`` (default), configurations will be added as a suffix to the part names and STL files.
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``post_import_commands`` *(default: [])*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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This is an array of commands that will be executed after the import is done. It can be used to be sure that
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some processing scripts are run everytime you run onshape-to-robot.
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``processors`` *(default: None)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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See :ref:`custom processors <custom_processors>` for more information.
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``round_decimals`` *(default: 12)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Numbers displayed in export will be rounded up using `round()` method. The number of decimals that are kept can be controlled using this parameters.
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