u/Fuchio

Hi all,

Hopefully someone could help me out here. I am building this rotary inverted pendulum and want to use the URDF model in IsaacLab. I have done this through SolidWorks before and the issue with SolidWorks 3rd party URDF exporter is that it will not take overwritten masses into account for calculating CoMs, inertias etc.

To learn OnShape I have remodelled the pendulum and am now working on the URDF export, the issues I'm running into are that the export contains way more links, joints and STL's than I would like. What I ultimately want in the export is 3 links, 1 STL for each, and preferably 3 joints including world joint but 2 joints would be fine.

I have tried making three subassemblies (base, arm and pendulum) and then a global assembly made of subassemblies but this gives all parts as linkages and all mates as joints. Then I tried just a global assembly with groups, then removing the mates within each group. That also gives me way more linkages, joins and STLs than I want.

Example joint that is undesired but autogenerated:

<joint name="hanging_node_to_root_joint_0" type="fixed">
<origin xyz="-0.0730897 -0.260671 0.027793" rpy="1.5708 -0 0" />
<axis xyz="0 0 1" />
<parent link="root" />
<child link="90deg_axle_holder" />
</joint>

Any help for getting a clean URDF output would be very much appreciated! If it comes without world joint then I'll manually add that, but as it exports now it is way too much effort for preparing it for IsaacLab still.

Hey all, some people might remember my Intel posts from 1 year ago (Analyzing Undervalued Tech: Intel Semicon Manufacturing (AUTISM) at 20$/share) and half a year ago (at 40$/share), I wanted to do a quick update because after Thursdays earnings multiple people have asked if I'm still in and I also received multiple messages from people who wanted to know if I am the nana inheritance guy. So to make things clear, I am not the nana inheritance guy. I believe he sold but I hope he did not.

I initially bought 10k shares with a 23.5$ average (so total was 235k usd last year). When Intel hit ~45$ a while ago I sold 3k shares which has now allowed me to travel to Shenzhen and stop doing projects for other companies so I can focus on my own robotics projects and reinforcement learning / Sim2Real.

Pretty much all of the takes from my AUTISM DD are still valid, allthough I did wrongly predict Intels new CEO and I am very happy with LBT.

In short about Intel and CPUs / fabbing. I am writing this from the newest Intel Ultra X9 on 18A (Panther Lake) with Intels built-in GPU which so far has been absolutely wonderful. LBT said fab commitments with chip designers will be signed in H2 2026, but he also said Intel is not going to disclose any customers and leaves it up to them, so it might take some more time before we know for sure.

Agentic AI is a lot more CPU heavy compared to the LLM training and inference which caused a huge push for GPUs over the past few years. I believe, and LBT has said this last year too, that this will cause huge demand for CPUs, with Intel now using their own fabs for high end chips (and no more profit margins have to be paid to TSMC). This might be the start of a run like we saw with RAM companies.

If AMD falls, nothing changes. If Intel falls, everything changes.

Enjoy the ride to everyone holding Intel too!