onshape-robotics-toolkit: v0.6.0

0.6.0 (2026-02-15)

Features

• Add mate connector support to CAD parser (891230b)
• support fetching mate connector (f043f16)

Bug Fixes

• Add MATE_CONNECTOR and MATE_GROUP to FeatureType enum (c3f3136)
• linting and formatting issues in tests/test_mate_connectors.py (12a554c)

Documentation

• update examples and getting started docs. Remove support for 3.14 to avoid lxml installation problems (4a9d1dd)

onshape-robotics-toolkit: v0.5.0

0.5.0 (2026-01-16)

Features

• add support for composite parts (1b317c1)

Bug Fixes

• add MJCF robot methods to config and update examples (19329ad)
• revert set variable method and validate variables argument before building payload (25f0883)
• update variables config to accomodate the set_variables fix (c5d35f4)

onshape-robotics-toolkit: v0.4.0

0.4.0 (2025-10-15)

Features

• create formats for saving MJCF/URDF and handling conversions (731f645)
• create formats for saving MJCF/URDF and handling conversions (047159b)

onshape-robotics-toolkit: v0.3.0

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 cor...

0.2.1

What's Changed

• Migrate to UV from Poetry by @senthurayyappan in #37
• Randomly generate SUBASSEMBLY and MATE joiners to avoid potential conflicts with part names

Full Changelog: 0.2...0.2.1

0.2

What's Changed

• Hartikainen: enable environment variables by @senthurayyappan in #33
• Updated ballbot example script and minor fixes to other examples by @senthurayyappan in #34

Full Changelog: 0.1.10...0.2

0.1.10

Full Changelog: 0.1.9...0.1.10

0.1.9

Full Changelog: 0.1.8...0.1.9

0.1.8

Full Changelog: 0.1.7...0.1.8

0.1.7

What's Changed

• Added routine to modify inertial matrix w/r/t a new transformation matrix by @spnsingh in #25

New Contributors

• @spnsingh made their first contribution in #25

Full Changelog: 0.1.6...0.1.7