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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+Processors
+==========
+
+Introduction
+~~~~~~~~~~~~
+
+Here is an overview of ``onshape-to-robot`` pipeline:
+
+.. image:: _static/img/architecture.png
+
+* **(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.
+* **(2)**: Some operations can be applied on this representation, those are the **processors**, some of them are listed below.
+* **(3)**: The robot is exported to the desired format (URDF, MuJoCo, etc.) using an **exporter**.
+
+.. note::
+
+    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.
+
+Retrieve and Convert Modes
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+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.
+
+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.
+
+You can also use the ``--save-pickle`` argument to save the robot data after retrieval while still proceeding to conversion.
+
+Processors list
+~~~~~~~~~~~~~~~
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Processors:
+
+   processor_ball_to_euler
+   processor_merge_parts
+   processor_simplify_stls
+   processor_scad
+   processor_dummy_base_link
+   processor_no_collision_meshes
+   processor_collision_as_visual
+   processor_convex_decomposition
+   processor_fixed_links
+   custom_processors