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How to prototype an articulated assembly and export URDF with Multi Agent CAD

Describe a multi-part mechanism and get a generated assembly with a URDF file for simulation work.

Who it is forA robotics or mechanism developer who wants a quick articulated concept to test in a physics simulator.

The problemModeling each linked component, its joints, and a simulator description by hand is slow for early concept checks.

The outcomeAn experimental multi-part assembly with joint interfaces and a URDF export for downstream robotics or physics simulation.

What you need first

  • Python with conda or a Python 3.11 virtual environment
  • git to clone the repository
  • An API key for an OpenAI-compatible model endpoint, such as the default DashScope setup
  • Enough local disk and network access to run the model calls

Steps

  1. git clone https://github.com/Pan-Chera/Multi-Agent-CAD.git
  2. cd Multi-Agent-CAD
  3. conda env create -f environment.yml
  4. conda activate multi_agent_cad
  5. pip install --no-deps "aider-chat==0.82.3"
  6. export DASHSCOPE_API_KEY="your-key"
  7. Read [assembly workflow documentation](mac_assembly/README.md) and follow its steps to describe the mechanism, generate the assembly, and export URDF

Prompt for your agent

Use the Multi-Agent-CAD repo (github.com/Pan-Chera/Multi-Agent-CAD). Follow mac_assembly/README.md to generate an assembly from the mechanism description <mechanism description> and export URDF. Report the URDF path and list the joints, then check that each joint limit matches the brief.

Caveat. The assembly workflow is an experimental technology preview, and the README says to validate generated geometry and joints before manufacturing or simulation use.

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