Onshape to Robot Descriptions¶

This is a command-line tool that allows you to convert Onshape robots to URDF and MJCF files for simulation and deployment. The tool is built on top of the onshape_to_robot package.

Obtain the API key and secret key from the Onshape developer portal.

We recommend storing your API key and secret in environment variables, and you can add something like this to your .bashrc:

export ONSHAPE_API=https://cad.onshape.com
export ONSHAPE_ACCESS_KEY=Your_Access_Key
export ONSHAPE_SECRET_KEY=Your_Secret_Key

Read the config doc first if you have any issues.

We need to install MeshLab to simplify the meshes downloaded from Onshape in the URDF files.

sudo apt-get install meshlab

We recommend you install MeshLab releases older than 2020.12, such as 2020.9. Later releases removed the support for meshlabserver.

Add the following line to your ~/.bashrc:

export PATH="/Applications/meshlab.app/Contents/MacOS:$PATH"

Run the following script and follow the instructions:

bash scripts/onshape_to_robot.sh --robot <robot_name>

Please carefully read the terminal messages printed from this script.