onshape-to-robot 0.0.9

Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API

OnShape to Robot (SDF/URDF)

This tool is based on the OnShape API to retrieve informations from an assembly and build an SDF or URDF model suitable for physics simulation.

Design-time considerations

There is some design constraints:

• Try to make your robot assembly mostly based on sub pre-assembled components (avoid to have a lot of constraints that are not relevant for the export). In this main assembly, do not use features such as sub-assemblies network.
• Degree of freedoms should be slider, cylindrical or revolute mate connectors named dof_something, where something will be used to name the joint in the final document
  • If the mate connector is cylindrical or revolute, a revolute joint will be issued
  • If the mate connector is a slider, a prismatic joint will be issued
  • If the mate connector is fastened, a floating joint will be issued
• When doing this connection, click the children joint first. This will be used to find the trunk of the robot (part with children but no parent)

It is possible to invert the axis for convenience by adding _inv at the end of the name. For instance dof_head_pitch_inv will result in a joint named head_pitch having the axis inverted with the one from the OnShape assembly.

Installation & requirements

First clone this repository:

git clone [e-mail]:Rhoban/onshape-to-robot.git

Install the dependencies (can be in your python3 virtualenv):

pip install numpy pybullet requests commentjson colorama numpy-stl

You might also need OpenSCAD for pure shape estimation

apt-get install openscad

Setting up your API key

To go any further, you will need to obtain API key and secret from the OnShape developer portal

We recommend you to store your API key and secret in environment variables, you can add something like this in your .bashrc:

// Obtained at https://dev-portal.onshape.com/keys
export ONSHAPE_API=https://cad.onshape.com
export ONSHAPE_ACCESS_KEY=Your_Access_Key
export ONSHAPE_SECRET_KEY=Your_Secret_Key

Alternatively, those keys can be stored in the config.json file, that will override those parameters (see below). It is however preferred to use environment variables because you can then share safely your config.json without sharing your secret keys.

Configuration

Create your own robot configuration by copying the robots/skeleton directory to your own:

cp -R robots/skeleton/ robots/myrobot

Then edit config.json in your repository, here are the entries:

• onshape_api: URL for OnShape API
• onshape_access_key and onshape_secret_key are the API key you obtained from OnShape developer portal
• WARNING: Instead of storing those sensitive keys in your config.json file, you can alternatively use the environment variables (see above)
• documentId is the document ID to be imported (see above picture)
• versionId is the version ID to be imported (optional, can be used to "fix" a version ID), it can be also found in the URL, after the /v/ part when selecting a specific version. If you don't specify any, the last version from your workspace will be automatically retrievied
• outputFormat can be sdf or urdf
• drawFrames if you want the frames to be drawn
• drawCollisions if you want the elements from collisions to be also put in visuals instead of meshes (can be used to debug pure shapes)
• useScads if you want or not to use scad files for pure shapes (see below)
• Optionally, assemblyName can be used to specify the name of the assembly. Else the first assembly found in document will be used.
• jointMaxEffort and jointMaxVelocity can be used to specify the values that will be used in the joints entry. Alternatively, they can be dictionaries associating joints names to values.
• The dynamics key can be used to override inertial data computed by OnShape for a specific part (see example below)
• noDynamics can be set to true if you want to have all masses and inertia to 0 (suppose you want to create an environment)
• ignore can be a list of part that you want to be ignored in the URDF export
• packageName adds a string to the paths of stl files. This is helpful for ROS users as they often need to specify their robot_description package.
• addDummyBaseLink adds a base_link without inertia as root. This is often necessary for ROS users
• robotName specifies the robot name.
• additionalUrdfFile specifies a file with xml content that is inserted into the URDF at the end of the file. Useful to add things that can't be modelled in onshape, e.g. simulated sensors.
• additionalSdfFile the same but for the SDF output. The XML content is added inside the part.

Here is an example of configuration:

{
    // You should store those three in environment variables
    "onshape_api": "https://cad.onshape.com",
    "onshape_access_key": "[KEY]",
    "onshape_secret_key": "[SECRET]",

    // Can be found in the URL when editing the assembly
    "documentId": "483c803918afc4d52e2647f0",
    // If not specified, the first assembly will be used
    "assemblyName": "robot",
    // Can be urdf or sdf
    "outputFormat": "urdf",
    // The frames parts are kept in the final file
    "drawFrames": false,
    // Collisions (pure shapes) are also used in the visual section
    "drawCollisions": false,
    // Wether or not the scan for SCAD files (pure shapes) should be done
    "useScads": true,
    // Masses, com and inertias will be zero (can be used if you import a static
    // field for example)
    "noDynamics": false,
    // Should the STLs of the same link be merged?
    "mergeSTLs": false,
    // Should we simplify STLs files?
    "simplifySTLs": false,
    // Maximum size (M) of STL files to run simplification (required meshlab)
    "maxSTLSize": 3,

    // Those can be used to configure the joint max efforts and velocity, and
    // overriden for specific joints
    "jointMaxEffort": {
        "default": 1.5,
        "head_pitch": 0.5   
    },
    "jointMaxVelocity": 22,

    // This can be used to override the dynamics of some part (suppose it's a compound
    // which dynamics is well specified)
    "dynamics": {
        "motorcase": {
            "mass": 0.5,
            "com": [0, 0.1, 0],
            "inertia": [0.1, 0, 0,
                        0, 0.1, 0,
                        0, 0, 0.1]
        },
        // "fixed" can be used to assign a null mass to the object, which makes it fixed (non-dynamics)
        "base": "fixed"
    },

    // Some parts can be totally ignored during import
    "ignore": [
        "small_screw",
        "small_nut"
    ]
}

Naming links

If you create a mate connector and name it link_something, the link corresponding to the part on which it is attached will be named something in the resulting URDF.

Running the import

You can run the import using:

onshape-to-robot robots/myrobot

This will produce files in the directory (next to the config.json file), including STLs (mesh files) and the sdf or urdf.

Running the simulation

PyBullet

To run the simulation:

onshape-to-robot-bullet robots/myrobot

You will have sliders available on the right to control the DOFs.

Gazebo

You can give a try to gazebo using:

gazebo
gz model -m robot -d
gz model --spawn-file=robot.sdf --model-name=robot

Testing the example (quadruped robot)

You can give a try to the demo-quadruped robot, which is a public assembly that can be viewed here:

onshape-to-robot robots/demo-quadruped/

Note: parallel constraints are here to keep the robot in its "zero" position when exporting, they can be supressed to manipulate the degrees of freedom in OnShape and unsupressed when exporting, or just to reset the robot to the "zero" position.

Pure shapes

By default, meshes are also used for collision. This is versatile but is computationally expensive, and can be numerically instable.

You can approximate those parts with pure shapes (namely boxes, spheres and cylinders). For this, we propose a solution based on openscad:

apt-get install openscad

To do that, you need to create a .scad file next to .stl one. For instance motor.scad that will approximate motor.stl file.

You can use onshape-to-robot-edit-shape [stl-file] that will automatically prepare and run the .scad using a template visualizing the .stl with transparency, allowing you to edit the pure shapes related:

Then, the pure shapes from your scad will be used when generating the sdf or urdf file (next time you will run onshape-to-robot, it will read your .scad files).

Thus, if the .scad file is empty, your part will have no collision. If you want to use the mesh again, simply remove the .scad file.

If you pass drawCollisions to true, the collisions will also be used for the render, which can be useful to debug:

Frames

If you want to track some frames on your robot, you can do the following:

• Connect any part to your robot using mate relations in OnShape
• Name one of these relations frame_something, when something will be the name of the frame (a link) in the resulting sdf or urdf

If you want to give it a try, you can use the onshape-to-robot-bullet in urdf mode, it will output the frames on standard output.

Joint frames

Joint frames are positionned wherever you positionned the mate connector itself, and oriented in the frame of the child link.

Cache

Some requests are cached for convenience (recovery of STL, massproperties etc.). You can run the clear-cache.sh script to remove all cached requests.

License

This project is under MIT License, read the LICENSE file for more information