Onshape-to-robot documentation

What is this ?

onshape-to-robot is a tool that allows you to export robots designed from the Onshape CAD software to descriptions format like URDF or MuJoCo, 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:

• Getting started
  • Installing the package
  • Setting up your API key
  • Setting up your export
  • Testing your export
  • Head’s up !
• Design-time considerations
  • Workflow overview
  • Specifying degrees of freedom
  • Inverting axis orientation
  • Naming links
  • Adding custom frames in your model
  • Joint frames
• Configuration (config.json)
  • Specific entries
  • config.json entries
• URDF
  • Introduction
  • config.json entries (URDF)
• MuJoCo
  • Introduction
  • config.json entries (URDF)
• Handling kinematic loops
  • Introduction
  • Specifying closing constraints
  • Support for <equality> in MuJoCo
  • Ressources
• Architecture and processors
  • Merge STLs
  • Simplify STLs
  • OpenSCAD pure shapes approximation
  • Adding dummy base link
• Cache
  • Presentation
  • Clearing the cache