Jointly API

Convert CAD to URDF, SDF, MJCF and USD programmatically. The same engine behind the web app and desktop app, callable directly.

Live API reference

The full interactive OpenAPI/Swagger reference — every endpoint, request/response schema, and a live "try it out" console — is served directly by the conversion engine:

Swagger UI: urdfconversion-production.up.railway.app/docs

ReDoc: urdfconversion-production.up.railway.app/redoc

Raw OpenAPI JSON: urdfconversion-production.up.railway.app/openapi.json

What the API does

Accepts STEP, IGES, mesh (STL/OBJ/PLY/GLB/glTF/DAE), SolidWorks and Onshape inputs.
Infers links, joints, axes, inertia and collision geometry.
Returns a job you poll for status, then download a URDF/SDF/MJCF/USD package with meshes.

Getting started

The same engine also runs locally and open — see the main app to try a conversion in the browser, or the project's desktop app releases for a fully local, no-upload workflow.