Jointly guides
Practical, honest guides to converting CAD into simulation-ready robot models — the manual way, the pitfalls, and the fast way.
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How to convert a SolidWorks assembly to URDF
A practical guide to turning a SolidWorks assembly into a URDF robot description — the manual exporter workflow, the common pitfalls (axes, inertia, mates), and a faster automated path.
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STEP file to URDF: the complete guide
How to convert a STEP (.step/.stp) CAD file into a URDF robot model — why STEP loses joint information, how joint axes are recovered from B-Rep geometry, and the fastest way to do it.
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Fixing URDF inertia and collision meshes
URDF inertia tensors and collision meshes are where most robot models go wrong. Learn how to compute a correct inertial block, why the visual mesh is a bad collision mesh, and how to fix both.
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CAD to MuJoCo and Isaac Sim
How to get a CAD model into MuJoCo (MJCF) or NVIDIA Isaac Sim (USD) for robotics and reinforcement learning — via URDF, the formats involved, and the fastest conversion path.
Skip the manual work
Jointly does everything on this page automatically: drop in your CAD (STEP, mesh, SolidWorks or Onshape), and it infers joints, axes, inertia and collision, then exports a simulation-ready URDF, SDF, MJCF or USD. The first conversions are free.
Try Jointly free →