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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+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.