bb87928bce
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
116 lines
2.9 KiB
ReStructuredText
116 lines
2.9 KiB
ReStructuredText
Getting started
|
|
===============
|
|
|
|
Installing the package
|
|
----------------------
|
|
|
|
Run the following to install onshape-to-robot from `pypi <https://pypi.org/project/onshape-to-robot/>`_:
|
|
|
|
.. code-block:: bash
|
|
|
|
pip install onshape-to-robot
|
|
|
|
.. _api-key:
|
|
|
|
Setting up your Authentication
|
|
------------------------------
|
|
|
|
Developer Keys
|
|
^^^^^^^^^^^^^^
|
|
|
|
You will need to obtain API key and secret from the
|
|
`My Account > Developer menu <https://cad.onshape.com/user/developer/apiKeys>`_
|
|
|
|
API key must be set as environment variables.
|
|
|
|
Using `.bashrc`
|
|
~~~~~~~~~~~~~~~
|
|
|
|
You can add something like this in your ``.bashrc``:
|
|
|
|
.. code-block:: bash
|
|
|
|
# .bashrc
|
|
# Obtained at https://dev-portal.onshape.com/keys
|
|
export ONSHAPE_API=https://cad.onshape.com
|
|
export ONSHAPE_ACCESS_KEY=Your_Access_Key
|
|
export ONSHAPE_SECRET_KEY=Your_Secret_Key
|
|
|
|
Using `.env` file
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
Alternatively, you can also create a ``.env`` file in the root of your project:
|
|
|
|
.. code-block:: bash
|
|
|
|
# .env
|
|
# Obtained at https://dev-portal.onshape.com/keys
|
|
ONSHAPE_API=https://cad.onshape.com
|
|
ONSHAPE_ACCESS_KEY=Your_Access_Key
|
|
ONSHAPE_SECRET_KEY=Your_Secret_Key
|
|
|
|
OAuth2
|
|
^^^^^^
|
|
|
|
Onshape alternatively supports `OAuth2 authentication <https://onshape-public.github.io/docs/auth/oauth/>`_. To authenticate this app with an OAuth token, you
|
|
can instead set the following in `.barshrc` or `.env`:
|
|
|
|
.. code-block:: bash
|
|
|
|
ONSHAPE_API=https://cad.onshape.com
|
|
ONSHAPE_SECRET_BEARER=Your_Access_Key
|
|
|
|
Setting up your export
|
|
----------------------
|
|
|
|
To export your own robot, first create a directory:
|
|
|
|
.. code-block:: bash
|
|
|
|
mkdir my-robot
|
|
|
|
Then edit ``my-robot/config.json``, here is the minimum example:
|
|
|
|
.. code-block:: json
|
|
|
|
{
|
|
// Onshape URL of the assembly
|
|
"url": "https://cad.onshape.com/documents/11a7f59e37f711d732274fca/w/7807518dc67487ad405722c8/e/5233c6445c575366a6cc0d50",
|
|
// Output format
|
|
"output_format": "urdf"
|
|
}
|
|
|
|
.. note::
|
|
|
|
The Onshape URL should be the one of your assembly. Be sure to be on the right tab when you copy it.
|
|
|
|
Once this is done, run the following command:
|
|
|
|
.. code-block:: bash
|
|
|
|
onshape-to-robot my-robot
|
|
|
|
|
|
Testing your export
|
|
-------------------
|
|
|
|
You can test your export by running (PyBullet):
|
|
|
|
.. code-block:: bash
|
|
|
|
onshape-to-robot-bullet my-robot
|
|
|
|
Or (MuJoCo):
|
|
|
|
.. code-block:: bash
|
|
|
|
onshape-to-robot-mujoco my-robot
|
|
|
|
What's next ?
|
|
-------------
|
|
|
|
Before you can actually enjoy your export, you need to pay attention to the following:
|
|
|
|
* ``onshape-to-robot`` comes with some conventions to follow, in order to understand what in your robot is a degree of freedom, a link, a frame, etc. Make sure to read the :doc:`design-time considerations <design>`.
|
|
* There are some options you might want to specify in the :doc:`config.json <config>` file.
|
|
* Have a look at the `examples <https://github.com/rhoban/onshape-to-robot-examples>`_ available on GitHub. |