Cad

Bridging a modern parametric CAD platform and a fifteen-year-old XML standard is where most roboticists lose days. The exporter translates exactly what it sees — so every shortcut taken in CAD becomes a bug in ROS. → Open the assembly on Onshape — it is public, so everything below is checkable against the source. The assembly: four fingers on blue linkages, the thumb on an orange one, all mounted to a single palm block. onshape-to-robot is a compiler. Assembly in, robot description out. It reads mate names, mate limits and material densities directly from the CAD document and writes them into URDF as joint names, joint limits and inertia tensors. That is a genuinely good deal — done properly, the physical properties of your robot are generated rather than hand-typed, and they stay correct when the mechanism changes. Done improperly, you spend your evenings editing XML by hand and discovering that your ring finger has no knuckle. flowchart LR A["Onshape assembly mates · limits · materials"] --> B["onshape-to-robot API pull"] B --> C["robot.urdf links · joints · inertials"] B --> D["assets/*.stl visual + collision meshes"] C --> E["robot_state_publisher"] C --> F["JOINT_MAPPING limits transcribed by hand"] D --> G["RViz / Gazebo"] Five rules that move work back into CAD # Each of these exists because its absence cost real time on this project.