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
commit bb87928bce
107 changed files with 16958 additions and 0 deletions
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+def main():
+    import os
+    import sys
+    import pickle
+    import argparse
+    from dotenv import load_dotenv, find_dotenv
+    from .config import Config
+    from .message import error, info
+    from .robot_builder import RobotBuilder
+    from .exporter_urdf import ExporterURDF
+    from .exporter_sdf import ExporterSDF
+    from .exporter_mujoco import ExporterMuJoCo
+
+    """
+    This is the entry point of the export script, i.e the "onshape-to-robot" command.
+    """
+    load_dotenv(find_dotenv(usecwd=True))
+
+    def get_version():
+        # Get version from package
+        try:
+            from importlib.metadata import version, PackageNotFoundError
+
+            return version("onshape-to-robot")
+        except PackageNotFoundError:
+            return "unknown"
+
+    try:
+        # Retrieving robot path
+        arg_parser = argparse.ArgumentParser()
+        arg_parser.add_argument(
+            "robot_path", type=str, help="Path to the robot directory"
+        )
+        arg_parser.add_argument(
+            "--version", action="version", version=f"onshape-to-robot {get_version()}"
+        )
+        arg_parser.add_argument(
+            "--retrieve",
+            action="store_true",
+            help="Only retrieve data and produce robot.pkl",
+        )
+        arg_parser.add_argument(
+            "--save-pickle",
+            action="store_true",
+            help="Save the robot data to robot.pkl",
+        )
+        arg_parser.add_argument(
+            "--convert",
+            action="store_true",
+            help="Only convert robot.pkl to the desired format",
+        )
+        arg_parser.add_argument(
+            "--safe",
+            action="store_true",
+            help="Disable features involving custom commands or imports",
+        )
+        args = arg_parser.parse_args()
+
+        print(info(f"* onshape-to-robot version {get_version()}"))
+
+        robot_path: str = args.robot_path
+
+        # Loading configuration
+        config = Config(robot_path, safe=args.safe)
+
+        # Building exporter beforehand, so that the configuration gets checked
+        if config.output_format == "urdf":
+            exporter = ExporterURDF(config)
+        elif config.output_format == "sdf":
+            exporter = ExporterSDF(config)
+        elif config.output_format == "mujoco":
+            exporter = ExporterMuJoCo(config)
+        else:
+            raise Exception(f"Unsupported output format: {config.output_format}")
+
+        if not args.convert:
+            # Building the robot
+            robot_builder = RobotBuilder(config)
+            robot = robot_builder.robot
+
+        # Can be used for debugging
+        pkl_filename = config.output_directory + "/robot.pkl"
+        if args.retrieve or args.save_pickle:
+            pickle.dump(robot, open(pkl_filename, "wb"))
+            print(info(f"* Robot data saved to {pkl_filename}"))
+
+        if args.convert:
+            print(info(f"* Loading robot data from {pkl_filename}"))
+            robot = pickle.load(open(pkl_filename, "rb"))
+
+        if not args.retrieve:
+            # Applying processors
+            for processor in config.processors:
+                processor.process(robot)
+
+            exporter.write_xml(
+                robot,
+                config.output_directory
+                + "/"
+                + config.output_filename
+                + "."
+                + exporter.ext,
+            )
+
+            if not args.safe:
+                # Executing post-import commands
+                for command in config.post_import_commands:
+                    print(info(f"* Running command: {command}"))
+                    os.system(command)
+
+    except Exception as e:
+        print(error(f"ERROR: {e}"))
+        raise e
+
+
+if __name__ == "__main__":
+    main()