Difference between revisions of "K-Scale Onshape Library"
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=== Sample Script === | === Sample Script === | ||
| − | Below is a sample script for converting a [[Stompy]] Onshape model to a URDF. | + | Below is a sample script for converting a [[Stompy]] Onshape model to a URDF<ref>https://github.com/kscalelabs/sim/blob/master/sim/scripts/download_urdf.sh</ref>. |
<syntaxhighlight lang="bash> | <syntaxhighlight lang="bash> | ||
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[2].
#!/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
