Merge pull request #61 from neurobionics/30-problem-with-composite-parts

Add support for composite parts

Author: senthurayyappan

examples/export/formats_example.py

@@ -2,7 +2,7 @@
 
 from onshape_robotics_toolkit.config import ORTConfig
 from onshape_robotics_toolkit.connect import Client
-from onshape_robotics_toolkit.formats import MJCFSerializer
+from onshape_robotics_toolkit.formats.urdf import URDFSerializer
 from onshape_robotics_toolkit.graph import KinematicGraph
 from onshape_robotics_toolkit.parse import CAD
 from onshape_robotics_toolkit.robot import Robot
@@ -11,11 +11,10 @@
 # Basic parameters a user would normally hard-code or source from their own scripts.
 ENV_PATH = ".env"
 DOCUMENT_URL = (
-    "https://cad.onshape.com/documents/a1c1addf75444f54b504f25c/"
-    "w/0d17b8ebb2a4c76be9fff3c7/e/d8f8f1d9dbf9634a39aa7f5b"
+    "https://cad.onshape.com/documents/1291b9c12b545eeed2d7b739/w/97037c8205b8249da5568aaf/e/c7cf82667c856bf201b3cbde"
 )
 MAX_DEPTH = 2
-EXPORT_PATH = Path("output/robot.xml")
+EXPORT_PATH = Path("output/robot.urdf")
 MESH_DIR = "custom_meshes"
 CONFIG_OUTPUT = Path("ORT.yaml")
 
@@ -39,8 +38,8 @@ def main() -> None:
     graph = KinematicGraph.from_cad(cad, use_user_defined_root=use_root)
     robot = Robot.from_graph(kinematic_graph=graph, client=client, name=robot_name)
 
-    # Export using MJCF serializer - no need to import MJCFConfig!
-    serializer = MJCFSerializer()
+    # Export using URDF serializer - no need to import URDFConfig!
+    serializer = URDFSerializer()
     serializer.save(
         robot,
         export_path,

examples/export/main.py

@@ -629,7 +629,7 @@ def get_assembly(
             query={
                 "includeMateFeatures": "true",
                 "includeMateConnectors": "true",
-                "includeNonSolids": "false",
+                "includeNonSolids": "true",
                 "configuration": configuration,
             },
             log_response=log_response,

onshape_robotics_toolkit/connect.py

@@ -357,6 +357,12 @@ class PartMateConnector(BaseModel):
     featureId: str = Field(..., description="The unique identifier of the mate connector feature.")
 
 
+class BodyType(str, Enum):
+    SOLID = "solid"
+    SHEET = "sheet"
+    COMPOSITE = "composite"
+
+
 class Part(IDBase):
     """
     Represents a part within an assembly, including its properties and configuration.
@@ -378,7 +384,7 @@ class Part(IDBase):
     Attributes:
         isStandardContent (bool): Indicates if the part is standard content.
         partId (str): The unique identifier of the part.
-        bodyType (str): The type of the body (e.g., solid, surface).
+        bodyType (BodyType): The type of the body (e.g., solid, surface).
 
     Custom Attributes:
         MassProperty (Union[MassProperties, None]): The mass properties of the part, if available.
@@ -400,7 +406,7 @@ class Part(IDBase):
 
     isStandardContent: bool = Field(..., description="Indicates if the part is standard content.")
     partId: str = Field(..., description="The unique identifier of the part.")
-    bodyType: str = Field(..., description="The type of the body (e.g., solid, surface).")
+    bodyType: BodyType = Field(..., description="The type of the body (e.g., solid, surface).")
     mateConnectors: list[Union[PartMateConnector, None]] = Field(
         default_factory=list,
         description="The mate connectors that belong to the part.",

onshape_robotics_toolkit/models/assembly.py

@@ -29,6 +29,7 @@
     AssemblyFeature,
     AssemblyFeatureType,
     AssemblyInstance,
+    BodyType,
     MatedCS,
     MateFeatureData,
     MateGroupFeatureData,
@@ -539,10 +540,17 @@ def estimate_api_calls(
             Estimated remaining API calls: 24
         """
         num_kinematic_parts = sum(
-            1 for key, part in self.parts.items() if part.rigidAssemblyToPartTF is None and not part.isRigidAssembly
+            1
+            for key, part in self.parts.items()
+            if part.rigidAssemblyToPartTF is None and not part.isRigidAssembly and not self.instances[key].suppressed
         )
 
-        num_rigid_subassemblies = sum(1 for key, sub in self.subassemblies.items() if sub.isRigid)
+        num_rigid_subassemblies = sum(
+            1 for key, sub in self.subassemblies.items() if sub.isRigid and not self.instances[key].suppressed
+        )
+        num_flexible_subassemblies = sum(
+            1 for key, sub in self.subassemblies.items() if not self.instances[key].suppressed
+        )
 
         # Each rigid subassembly needs get_root_assembly to fetch occurrence data
         subassembly_calls = num_rigid_subassemblies
@@ -553,7 +561,7 @@ def estimate_api_calls(
 
         mate_property_calls = 0
         if fetch_mate_properties:
-            mate_property_calls = 1 + len(self.subassemblies) - num_rigid_subassemblies
+            mate_property_calls = 1 + num_flexible_subassemblies - num_rigid_subassemblies
 
         mesh_download_calls = 0
         if download_meshes:
@@ -1285,7 +1293,7 @@ def _populate_parts(self, assembly: Assembly) -> None:
                 self.parts[key] = Part(
                     isStandardContent=False,
                     partId=subassembly_instance.elementId,  # Use element ID as part ID
-                    bodyType="assembly",
+                    bodyType=BodyType.SOLID,
                     documentId=subassembly_instance.documentId,
                     elementId=subassembly_instance.elementId,
                     documentMicroversion=subassembly_instance.documentMicroversion,
@@ -1329,6 +1337,12 @@ async def _fetch_mass_properties(key: PathKey, part: Part, client: Client) -> No
 
         tasks = []
         for key, part in self.parts.items():
+            if part.bodyType == BodyType.SHEET.value:
+                continue  # skip surface bodies
+
+            if self.instances[key].suppressed:
+                continue
+
             if part.MassProperty is not None:
                 logger.debug(f"Part {key} already has mass properties, skipping")
                 continue
@@ -1387,6 +1401,9 @@ async def _fetch_rootassembly(key: PathKey, subassembly: SubAssembly, client: Cl
 
         tasks = []
         for key, subassembly in self.subassemblies.items():
+            if self.instances[key].suppressed:
+                continue
+
             if subassembly.RootOccurrences is not None:
                 logger.debug(f"Subassembly {key} already has RootOccurrences, skipping")
                 continue
@@ -1430,6 +1447,9 @@ def fetch_mate_limits(self, client: Optional[Client]) -> None:
 
         # Add flexible subassemblies
         for sub_key, subassembly in self.subassemblies.items():
+            if self.instances[sub_key].suppressed:
+                continue
+
             if not subassembly.isRigid:
                 assemblies_to_fetch.append((
                     sub_key,