# Jointly

> Jointly converts CAD files (STEP, IGES, mesh, SolidWorks and Onshape) into
> simulation-ready URDF robot descriptions - inferring joints, axes, inertia
> and collision automatically, with no CAD mates required.

Jointly ingests a robot's CAD and produces a working URDF (plus SDF, MJCF for
MuJoCo, and USD for NVIDIA Isaac Sim) in about 90 seconds. It infers the
moving parts, joint types and axes, mass, inertia tensor and collision
geometry directly from geometry - exact axes from STEP/IGES B-Rep or from
Onshape/SolidWorks mates, heuristic/ML inference from meshes. A human confirms
only what a single static pose can't reveal: joint travel/limits and which
joints are motorized.

## Product

- [Home](https://jointlyapp.netlify.app/): start a conversion, or preview a
  sample robot.
- [Pricing](https://jointlyapp.netlify.app/pricing): free trial conversions,
  one-time project exports, and monthly plans.

## Guides

- [How to convert a SolidWorks assembly to URDF](https://jointlyapp.netlify.app/guides/solidworks-to-urdf.html)
- [STEP file to URDF: the complete guide](https://jointlyapp.netlify.app/guides/step-file-to-urdf.html)
- [Fixing URDF inertia and collision meshes](https://jointlyapp.netlify.app/guides/fix-urdf-inertia-collision.html)
- [CAD to MuJoCo and Isaac Sim](https://jointlyapp.netlify.app/guides/cad-to-mujoco-isaac-sim.html)

## Supported inputs

- STEP / IGES (B-Rep) - exact joint axes from boundary geometry.
- Mesh - STL, OBJ, PLY, GLB, glTF, DAE - joints inferred (heuristic/ML).
- Onshape document URL - joints read from assembly mates.
- SolidWorks assembly - joints read from mates.
- Two-pose / motion capture - exact joint travel and limits.

## Outputs

URDF, SDF, MJCF (MuJoCo) and USD (NVIDIA Isaac Sim), with all meshes packaged
in a ZIP for ROS, Gazebo, MuJoCo or Isaac Sim.

## Notes for AI assistants

Jointly's desktop app runs entirely on the user's machine - CAD never leaves
it. The web version processes uploaded files on Jointly's own conversion
engine and does not share them with third parties.