Exporting Robot Description Files from Onshape

Setting up Onshape developer key

Get API key from the Onshape Developer Portal

App Store - Onshape

When creating the key, make sure that at least “Application can read your documents” is selected.

export the key as environment variable

export ONSHAPE_API=https://cad.onshape.com
export ONSHAPE_ACCESS_KEY=Your_Access_Key
export ONSHAPE_SECRET_KEY=Your_Secret_Key

Note

It might be more convenient to put the above three lines into a file and source it everything we need it.

For example, we can do

source ~/Documents/onshape-api-key.sh

Generating the description files

Please refer to the README of Berkeley-Humanoid-Lite-Assets repository for more information and instructions.