Import upstream snapshot 80e710700aac9573a2230f74f7ce9e094833a0bc

Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
2026-08-28 15:42:31 +08:00
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+URDF
+====
+
+Introduction
+-------------
+
+URDF is a very standard format that can be exported by ``onshape-to-robot``. Below are the specific configuration entries that can be specified when using this format.
+
+When using this exporter, frames will be added as a *dummy links* attached to their body using a fixed joint
+
+``config.json`` entries (URDF)
+------------------------------
+
+Here is an example of complete ``config.json`` file, with details below:
+
+.. code-block:: javascript
+
+    {
+        "url": "document-url",
+        "output_format": "urdf",
+        // ...
+        // General import options (see config.json documentation)
+        // ...
+
+        // Package name (for ROS) (default: "")
+        "package_name": "my_robot",
+        // Additional XML file to be included in the URDF (default: "")
+        "additional_xml": "my_custom_file.xml",
+        // Exclude inertial data for fixed bodies (default: false)
+        "set_zero_mass_to_fixed": true,
+
+        // Override joint properties (default: {})
+        "joint_properties": {
+            // Default properties for all joints
+            "*": {
+                "max_effort": 10.0,
+                "max_velocity": 6.0,
+                "friction": 0.5
+            },
+            // Set the properties for a specific joint
+            "joint_name": {
+                "max_effort": 20.0,
+                "max_velocity": 10.0,
+                "friction": 0.1,
+                "limits": [0.5, 1.2]
+            },
+            "wheel": {
+                "type": "continuous"
+            }
+        },
+
+        // Override geometry properties (default: {})
+        "geom_properties": {
+            // Set properties for specific links using pattern matching
+            "tibia": {
+                "collision": {
+                    "mu1": "1.2",
+                    "mu2": "0.8"
+                }
+            },
+            // Wildcard patterns are supported
+            "leg_*": {
+                "visual": {
+                    "material": "leg_material"
+                }
+            }
+        },
+    }
+
+``joint_properties`` *(default: {})*
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Allow to specify the properties of the joints produced in the URDF output. The key should be joint names. The special ``default`` key will set default values for each joints.
+
+Possible values are:
+
+* ``max_effort``: The maximum effort that can be applied to the joint (added in the ``<joint effort=...>`` tag)
+* ``max_velocity``: The maximum velocity of the joint (added in the ``<joint velocity=...>`` tag)
+* ``friction``: The friction of the joint (added in the ``<joint_properties friction=...>`` tag)
+* ``type``: Sets the joint type (changing the ``<joint type="...">`` tag)
+* ``limits``: Override the joint limits, should be a list of two values (min, max)
+
+``geom_properties`` *(default: {})*
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Allow to specify the properties of the geometries (collision and visual) produced in the URDF output. The key should be part names with support for wildcard pattern matching.
+
+Properties can be specified separately for ``visual`` and ``collision`` geometries, or applied to both if not nested.
+
+Wildcard patterns (``*``, ``?``, ``[seq]``) are supported for matching part names. When multiple patterns match, properties are merged in order with later matches overriding earlier ones.
+
+All properties are added as nested XML elements within the ``<visual>`` or ``<collision>`` tags. Common URDF geometry properties include:
+
+* ``mu1``, ``mu2``: Friction coefficients for collision geometries
+* ``kp``, ``kd``: Contact stiffness and damping parameters
+* ``material``: Material reference for visual geometries
+
+``package_name`` *(default: "")*
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+If you are exporting a URDF for ROS, you can specify the package name here. This will be used in the ``<robot>`` tag.
+
+``additional_xml`` *(default: "")*
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+If you want to include additional XML in the URDF, you can specify the path to the file here. This file will be included in the produced URDF file.
+
+.. note::
+
+    Alternatively, ``additional_xml`` can be a list of files
+
+``set_zero_mass_to_fixed`` *(default: false)*
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+This option sets the mass to 0 for bodies that are :ref:`fixed <fixed-robot>` to the world.
+
+.. note::
+
+    In PyBullet, such bodies are indeed recognized as fixed