kscale-onshape-library 0.0.15

K-Scale's library for programmatically interacting with OnShape

K-Scale OnShape Library

This library is what we use at K-Scale for interacting with OnShape. It is a wrapper around the OnShape API that allows us to easily import parts from OnShape into our projects.

Getting Started

Install the library using pip:

pip install kscale-onshape-library

Or, if you want to install directly from Github:

pip install 'kscale-onshape-library @ git+https://github.com/kscalelabs/onshape.git@master'

Or, if you're developing the library, do:

git clone [e-mail]:kscalelabs/onshape.git && cd onshape
conda create -y -n kol python=3.11 && conda activate kol
pip install -e '.[dev]'

In order to access the OnShape API, you need to define ONSHAPE_ACCESS_KEY and ONSHAPE_SECRET_KEY using a key generated here.

Usage

To convert an assembly to a URDF, use the following command:

kol urdf https://cad.onshape.com/documents/DDDDDDDD/w/WWWWWWWW/e/EEEEEEEE

You can visualize the resulting URDF using PyBullet:

pip install pybullet
kol pybullet robot/<urdf-name>.urdf

To convert an assembly to a MJCF, use the following command:

kol mjcf https://cad.onshape.com/documents/DDDDDDDD/w/WWWWWWWW/e/EEEEEEEE

You can visualize the resulting MJCF using MuJoCO:

mjpython -m kol.scripts.cli mujoco robot/<mjcf-name>.xml

Advanced Tools

For improving simulation speed and reducing internal collisions, you can choose to merge a URDF at each of its fixed joints.

kol merge-fixed-joints robot/URDF.urdf

To simplify each of the meshes in a URDF using vertex clustering:

kol simplify-all robot/URDF.urdf

To cleanup the meshes directory by removing all meshes not referenced in a urdf:

kol cleanup-mesh-dir robot/URDF.urdf

For example, if you wanted to download the 5-DOF stompy arm, merge and simplify, then clean the directory.

kol urdf https://cad.onshape.com/documents/afaee604f6ca311526a6aec8/w/29af84cb974c2d825b71de39/e/4fef6bce7179a665e62b03ba
&& kol merge-fixed-joints robot/assembly_1.urdf
&& kol simplify-all robot/assembly_1_merged.urdf
&& kol cleanup-mesh-dir robot/assembly_1_merged_simplified.urdf

Notes

• OnShape API explorer
• OnShape API documentation
• OnShape-to-Robot Library