Import upstream snapshot 80e710700aac9573a2230f74f7ce9e094833a0bc

Upstream: https://github.com/Rhoban/onshape-to-robot
Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc
Upstream-Branch: master

docs/source/processor_ball_to_euler.rst

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+Ball to Euler
+=============
+
+Introduction
+------------
+
+This processor turns the ``ball`` joints to three revolute joints. This can be convenient if your downstream simulator or tool can't handle ``ball`` joints.
+
+``config.json`` entries
+-----------------------
+
+.. code-block:: javascript
+
+    {
+        // ...
+        // General import options (see config.json documentation)
+        // ...
+
+        // Convert balls to Euler (default: false)
+        "ball_to_euler": true,
+        // Euler angles order (default: "xyz")
+        "ball_to_euler_order": "xyz",
+    }
+
+``ball_to_euler`` *(default: false)*
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+If set to ``true``, all ball joints will be converted to Euler.
+
+If you don't want to convert all your ball joints, you can specify a list of joints as follows:
+
+.. code-block:: javascript
+
+    {
+        // Using specific joint lists, with wildcards
+        "ball_to_euler": ["joint1", "shoulder_*"],
+    }
+
+``ball_to_euler_order`` *(default: "xyz")*
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+If set, the order of the euler angles will be set to the given value. The default is ``xyz``. 
+The order should be ``xyz``, ``xzy``, ``zyx``, ``zxy``, ``yxz`` or ``yzx``.