Onshape-to-robot documentation

What is this ?

onshape-to-robot is a tool that allows you to import robots designed in the Onshape CAD software to descriptions format like URDF or SDF, so that you can use them for physics simulation or in your running code (requesting frames, computing dynamics etc.)

• onshape-to-robot GitHub repository

• Robots examples GitHub repository

• onshape-to-robot on pypi

Contents:

• Installation & requirements
  • Requirements
  • Installation
  • Setting up your API key
• Commands
  • onshape-to-robot - import a robot
  • onshape-to-robot-edit-shape - editing pure shape
  • onshape-to-robot-bullet - running bullet simulation to test your robot (URDF)
  • onshape-to-robot-clear-cache - clearing cache
• Design-time considerations
  • Specifying degrees of freedom
  • Inverting axis orientation
  • Naming links
  • Adding custom frames in your model
  • Closing frames
  • Joint frames
• Export your own robot (writing config.json)
  • config.json entries
  • Example config.json file
  • Testing your robot in simulator
• Pure shapes approximation
  • Approximating a mesh
  • Part with no collision
  • Re-using the mesh
  • Drawing collisions