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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...."
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.
=== Sample Script ===
Below is a sample script for converting a [[Stompy]] Onshape model to a URDF.
<syntaxhighlight lang="bash>
#!/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 ${output_dir} \
--disable-mimics \
--mesh-ext obj
</syntaxhighlight>
=== Sample Script ===
Below is a sample script for converting a [[Stompy]] Onshape model to a URDF.
<syntaxhighlight lang="bash>
#!/bin/zsh
# ./sim/scripts/download_urdf.sh
# URL of the latest model.
url=https://cad.onshape.com/documents/71f793a23ab7562fb9dec82d/w/6160a4f44eb6113d3fa116cd/e/1a95e260677a2d2d5a3b1eb3
# Output directory.
output_dir=${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
</syntaxhighlight>