bb87928bce
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
45 lines
2.0 KiB
ReStructuredText
45 lines
2.0 KiB
ReStructuredText
Processors
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==========
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Introduction
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~~~~~~~~~~~~
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Here is an overview of ``onshape-to-robot`` pipeline:
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.. image:: _static/img/architecture.png
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* **(1)**: The assembly is retrieved from Onshape, to produce an intermediate representation of the robot. See the `robot.py <https://github.com/Rhoban/onshape-to-robot/blob/master/onshape_to_robot/robot.py>`_ from the source code.
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* **(2)**: Some operations can be applied on this representation, those are the **processors**, some of them are listed below.
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* **(3)**: The robot is exported to the desired format (URDF, MuJoCo, etc.) using an **exporter**.
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.. note::
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If you want to tweak your robot in the process, do not hesitate to have a look at the `export.py <https://github.com/Rhoban/onshape-to-robot/blob/master/onshape_to_robot/export.py>`_ script, which is the entry point of the ``onshape-to-robot`` command, and summarize the above-listed steps.
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Retrieve and Convert Modes
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~~~~~~~~~~~~~~~~~~~~~~~~~~
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It is possible to only execute the retrieval step **(1)**, by passing the ``--retrieve`` argument to the ``onshape-to-robot`` command. This will save the intermediate representation of the robot to a file named ``robot.pkl`` in the output directory.
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Similarly, steps **(2)** and **(3)** can be executed by passing the ``--convert`` argument, which will load the robot from the ``robot.pkl`` file. Processors will then be executed and the exported will produce the final output. This can be convenient to avoid sending API requests to Onshape while tweaking processors or exporters.
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You can also use the ``--save-pickle`` argument to save the robot data after retrieval while still proceeding to conversion.
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Processors list
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~~~~~~~~~~~~~~~
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.. toctree::
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:maxdepth: 2
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:caption: Processors:
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processor_ball_to_euler
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processor_merge_parts
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processor_simplify_stls
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processor_scad
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processor_dummy_base_link
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processor_no_collision_meshes
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processor_collision_as_visual
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processor_convex_decomposition
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processor_fixed_links
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custom_processors
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