Difference between revisions of "K-Scale Onshape Library"
(Created page with "The '''K-Scale Onshape Library'''<ref>https://github.com/kscalelabs/onshape</ref> is a tool developed by K-Scale Labs to convert Onshape files into simulation artifacts....") |
(No difference)
|
Revision as of 19:07, 30 April 2024
The K-Scale Onshape Library[1] is a tool developed by K-Scale Labs to convert Onshape files into simulation artifacts.
Sample Script
Below is a sample script for converting a Stompy Onshape model to a URDF.
#!/bin/zsh
# ./sim/scripts/download_urdf.sh
# URL of the latest model.
url=https://cad.onshape.com/documents/71f793a23ab7562fb9dec82d/w/6160a4f44eb6113d3fa116cd/e/1a95e260677a2d2d5a3b1eb3
# Output directory.
output_dir=${MODEL_DIR}/robots/stompy
kol urdf ${url} \
--max-ang-velocity 31.4 \
--suffix-to-joint-effort \
dof_x4_h=1.5 \
dof_x4=1.5 \
dof_x6=3 \
dof_x8=6 \
dof_x10=12 \
knee_revolute=13.9 \
ankle_revolute=6 \
--output-dir ${output_dir} \
--disable-mimics \
--mesh-ext obj
