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OnShape to SDF/URDF simulation


With my team we’ve been working on an export tool to build robot models from OnShape CAD designs that can then be used in Gazebo or PyBullet for instance.

This allows you to transfer robots designed using this online constraint based tools to SDF or URDF including dynamics, meshes and optionally pure shape approximation for collisions.

This is still an ongoing work but we think that this can be useful in such a community to speed up the design and simulate process

Do not hesitate to give feedback or open issues!

Best regards
Grégoire Passault

Github Link:


Hi @Gregwar,
I am also using Onshape well. I knew it would be a DAE file conversion before, but I didn’t know that it would be so easy to change to SDF and URDF. Thank you very much for your work. I will try it. :slight_smile: