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See the source code for this repository here .

Getting Started

Dependencies​

The onshape package requires Python 3.11 or greater.

Installation​

onshape can be installed through pip using the following command:

pip install onshape  # To install the vanilla version
pip install 'onshape[all]'  # To install with all dependencies

Verify that the package was installed correctly by checking that the onshape CLI is available:

$ onshape
usage: onshape {run,download,postprocess,pybullet,mujoco}
onshape: error: the following arguments are required: subcommand

Next, you should retrieve an Onshape Access Key and Secret Key from here . Set the required environment variables like so:

export ONSHAPE_ACCESS_KEY='XXXXXXXXXXXXXXXXXXXXXXXX'
export ONSHAPE_SECRET_KEY='YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY'

Usage

The Onshape CLI has the following components:

  • download - takes a link to an Onshape assembly and downloads it as a URDF
  • postprocess - takes a path to a downloaded URDF and applies postprocessing to make it useful
  • run - Combines download and postprocess into a single script
  • pybullet - Opens a Pybullet visualization of a generated URDF file, for debugging purposes
  • mujoco - Opens a Mujoco visualization of a generated MJCF file, for debugging purposes

Download​

To download a URDF file, use the following command:

$ onshape download --help
usage: onshape [-h] [-o OUTPUT_DIR] [-f CONFIG_PATH] [-n] document_url

positional arguments:
  document_url          The URL of the OnShape document.

options:
  -h, --help            show this help message and exit
  -o OUTPUT_DIR, --output-dir OUTPUT_DIR
                        The output directory.
  -f CONFIG_PATH, --config-path CONFIG_PATH
                        The path to the config file.
  -n, --no-cache        Disables caching.

You can override configuration options from the command line by passing the values using omegaconf syntax or by providing a configuration file.

Postprocess​

To postprocess a downloaded URDF file, use the following command:

$ onshape postprocess --help
usage: onshape [-h] [-f CONFIG_PATH] urdf_path

positional arguments:
  urdf_path             The path to the downloaded URDF.

options:
  -h, --help            show this help message and exit
  -f CONFIG_PATH, --config-path CONFIG_PATH
                        The path to the config file.

You can override the postprocess configuration arguments in the same way.

Config File Reference​

To view all the available configuration options, see this file .

Ignore Welding Joints

By default, fixture joints on the same body gets combined into one body. To avoid this you can set the following params:

ignore_merging_fixed_joints:
  - "imu_link"

or

merge_fixed_joints: false

FAQ

How to update permission? After requesting permissions, remove ~/.kscale/

Additional Resources

Get Help​

OnShape API​

Other Tools​