neurobionics/onshape-robotics-toolkit: 0.1.10
Year: 2025
Type: software
Abstract: 0.3.0 (2025-10-15) Features add a robust key naming system and a CAD class to act as a unified holding entity for instances, occurrences, and ids (e93be91) add API call counter to Client class and estimate_api_calls method (dbd9bf9) add API call counter to Client class and estimate_api_calls method to CAD class (a5682f0) add codecov and fix URDF/urdf case mismatch (e54a38a) add config setup and a global auto-save feature (feb521b) add custom mesh and file path support for robot.save (38f2a53) add custom mesh and file path support for robot.save (943fe14) add floating point cleanup (bd4459d) add from_graph method to robot class (73fd747) add helper methods to conviniently configure loguru (ca0c684) add initial attempts at parsing mate patterns; transformations dont work (8184a7d) add kinematic tree class tohelp with graph processing (320d978) add mate processing logic w/o tests (683688d) add method to ensure mate names are unique before URDF output (a8394ae) add new tuple-based keys instead of strings (9924ddf) add plotting methods and fetch flexible subassemblies (31a62ba) add remap_mates method to graph class (0305bd2) add rigid-subassembly logic to mate parsing (43acbd4) add rigidAssemblyToPartTF to parts (5744d07) add setup-uv-env action (821fdee) add support and tests for mate groups (96303d9) add support and tests for mate groups (ee63c04) add support for assembly patterns that work both under root assembly and subassembly context (c4d147f) add tests and new CAD class with registries (84e0325) add unit tests for parse, graph, and robot modules (c4b5ee2) add uv files (9684766) all linting errors (d282f7e) better transforms (51e324d) bump max supported python version and fix TKinter windows error (04a180f) flattened data structures for CAD (d88d1e6) initial patterns for CAD's unified key system (f071fe8) integrate release-please (02c1c11) make joint names unique (bafbba6) make KinematicGraph inherit DiGraph (b6691a0) populate parts and add part instances for every rigid subassembly (95969ca) rename KinematicTree to KinematicGraph (c60d454) replace old type-system and CAD class with new tested one (9c54489) restructure how part mass is fetched: switch to a two phase approach to not waste API calls (8aef399) reviewed parse module; removed all remapping methods (59cc19f) update dev docs (8a1f012) update KinematicGraph to be compatible with CAD (7ac8075) update mate limits to config (a310ff1) update mate limits to config (7764d1f) update Robot class to use PathKeys and inhert DiGraph (67d9549) use loguru instead of custom Logger class (1a7ced8) uv init (8a734b1) Bug Fixes add a search method to find the occurrence key to support patterns within sub-assemblies (2a4ba81) add expected URDF file for unit testing and modify gitignore (60f2e9d) all mypy errors with parse module (5c84220) docs test (37465f2) generate SUB_ASSEMBLY and MATE joiners to avoid conflict with part names (3a37964) mate data order mismatch and extend remapping logic to matedOccurrence (ad9a3a0) minor bug that fails to set rigidAssemblyToPartTF (915d2e6) models are free of linting errors (9b0eee6) more makefile errors (9787c2b) more mypy static type checking fixes (f4cfde4) mypy errors (a95454f) occurrences and tf now works but transformations have issues (84fc67a) ocurrences now parse all available occurrence transforms from assembly json; mates at the root level that reference a part buried within a rigid-subassembly now have the correct transform (206c2e2) Onshape's occurrence TF for subassemblies donot follow the same convention as parts, hence they cannot be used to compute part pose wrt rigid roots (d0732a5) part names with - throw errors in USD export (22e5c4e) pattern joint locations are now calculated based on the other entity's tf; patterns now work (6594144) reference sub-assmebly child or parent correctly in mate pattern processing (2a0c694) remove old docs for log module (f9d816b) remove root part origin to COM initial transform; fix edge ordering in graph processing to match PARENT, CHILD convention (b475b0b) remove unused type ignores (7d10c5f) root level mates that refer parts within multiple levels of flex and rigid subassemblies now have correct transform (6f2057a) separate building and processing graphs (2e5d02b) subassemblies and parts now preserve the same structure as instances: we store instance duplicates for each occurrence (260cfdc) topological mate sorting is a crucial part of robot structure logic (14ee866) transformations for both patterned and other entity have correct orientations and minor positional differences due to unknown reason (5785ece) traverse instances even if they are in sub-assemblies so we have refs for mates (72c53f5) undirected graphs donot preserve edge order during iteration (d282c84) update example scripts and remove redundant ones (171653f) update unit tests; they still need to be made better (e7af28b) use pypi token instead of trusted publishing (7296887) uv version tag (684ff4d) windows forward slash issue (e585f88) Documentation add info about mate pattern transforms (126326a) add info about transformations and assumptions (98f5834) information on how rigid-subassembly -> mate is handled (2f42102) update docstrings for the link module (a608d48) updated docs to reflect new changes to tutorial scripts (b754731)
Authors: Senthur Ayyappan, Elliott Rouse, cc, Kristian Hartikainen, Surya Singh
Institution: University of Michigan
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W6968000292
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