How to export URDF from modified Onshape model of Zeroth-01?

[wwwxuzhenyu]

Hi, thank you for sharing the Zeroth-01 design and URDF files!

I accessed the CAD design of Zeroth-01 through the Onshape link provided on the K-Scale Lab website (https://cad.onshape.com/documents/b4672a7f8ce3947bd250f2c1/w/ff02744612b3ad395d4541a6/e/6e9a04dde965d2dab1a3d9af), and I’ve made some modifications to a few 3D-printed parts based on that model.

Now I would like to export a new URDF file that reflects my modified version. However, I couldn’t find a clear method to export the URDF directly from Onshape, especially in the same structured format as the one provided in this repository.

Could you share:

1. What is the recommended way to export a URDF from the Onshape model?
2. Are there any custom scripts, add-ons, or specific export settings you used to generate the original URDF?

Thanks!