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Assembly

This module defines data models for Assembly entities retrieved from Onshape REST API responses.

The data models are implemented as Pydantic BaseModel classes, which are used to

1. Parse JSON responses from the API into Python objects.
2. Validate the structure and types of the JSON responses.
3. Provide type hints for better code clarity and autocompletion.

These models ensure that the data received from the API adheres to the expected format and types, facilitating easier and safer manipulation of the data within the application.

Models
  • Occurrence: Represents an occurrence of a part or sub-assembly within an assembly.
  • Part: Represents a part within an assembly, including its properties and configuration.
  • PartInstance: Represents an instance of a part within an assembly.
  • AssemblyInstance: Represents an instance of an assembly within another assembly.
  • AssemblyFeature: Represents a feature within an assembly, such as a mate or pattern.
  • Pattern: Represents a pattern feature within an assembly, defining repeated instances of parts or sub-assemblies.
  • SubAssembly: Represents a sub-assembly within a larger assembly.
  • RootAssembly: Represents the root assembly, which is the top-level assembly containing all parts and sub-assemblies.
  • Assembly: Represents the overall assembly, including all parts, sub-assemblies, and features.
Supplementary models
  • IDBase: Base model providing common attributes for Part, SubAssembly, and AssemblyInstance models.
  • MatedCS: Represents a coordinate system used for mating parts within an assembly.
  • MatedEntity: Represents an entity that is mated within an assembly, including its coordinate system.
  • MateRelationMate: Represents a mate relation within an assembly, defining how parts or sub-assemblies are connected.
  • MateGroupFeatureOccurrence: Represents an occurrence of a mate group feature within an assembly.
  • MateGroupFeatureData: Represents data for a mate group feature within an assembly.
  • MateConnectorFeatureData: Represents data for a mate connector feature within an assembly.
  • MateRelationFeatureData: Represents data for a mate relation feature within an assembly.
  • MateFeatureData: Represents data for a mate feature within an assembly.
Enum
  • InstanceType: Enumerates the types of instances in an assembly, e.g. PART, ASSEMBLY.
  • MateType: Enumerates the type of mate between two parts or assemblies, e.g. SLIDER, CYLINDRICAL, REVOLUTE, etc.
  • RelationType: Enumerates the type of mate relation between two parts or assemblies, e.g. LINEAR, GEAR, SCREW, etc.
  • AssemblyFeatureType: Enumerates the type of assembly feature, e.g. mate, mateRelation, mateGroup, mateConnector

Assembly

Bases: BaseModel

Represents the overall assembly, including all parts, sub-assemblies, and features.

JSON 
    {
        "rootAssembly": {
            "instances": [],
            "patterns": [],
            "features": [],
            "occurrences": [],
            "fullConfiguration": "default",
            "configuration": "default",
            "documentId": "a1c1addf75444f54b504f25c",
            "elementId": "0b0c209535554345432581fe",
            "documentMicroversion": "349f6413cafefe8fb4ab3b07"
        },
        "subAssemblies": [],
        "parts": [],
        "partStudioFeatures": []
    }

Attributes:

Name Type Description
rootAssembly RootAssembly

The root assembly in the document.
subAssemblies list[SubAssembly]

A list of sub-assemblies in the document.
parts list[Part]

A list of parts in the document.
partStudioFeatures list[dict]

A list of part studio features in the document.
Custom Attributes

document (Union[Document, None]): The document object associated with the assembly. Defaults to None. name (Union[str, None]): The name of the assembly. Defaults to None.

Examples:

>>> Assembly(
...     rootAssembly=RootAssembly(
...         instances=[...],
...         patterns=[...],
...         features=[...],
...         occurrences=[...],
...         fullConfiguration="default",
...         configuration="default",
...         documentId="a1c1addf75444f54b504f25c",
...         elementId="0b0c209535554345432581fe",
...         documentMicroversion="349f6413cafefe8fb4ab3b07",
...     ),
...     subAssemblies=[...],
...     parts=[...],
...     partStudioFeatures=[...],
... )
Assembly(
    rootAssembly=RootAssembly(
        instances=[...],
        patterns=[...],
        features=[...],
        occurrences=[...],
        fullConfiguration="default",
        configuration="default",
        documentId="a1c1addf75444f54b504f25c",
        elementId="0b0c209535554345432581fe",
        documentMicroversion="349f6413cafefe8fb4ab3b07",
    ),
    subAssemblies=[...],
    parts=[...],
    partStudioFeatures=[...],
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class Assembly(BaseModel):
    """
    Represents the overall assembly, including all parts, sub-assemblies, and features.

    JSON:
        ```json
            {
                "rootAssembly": {
                    "instances": [],
                    "patterns": [],
                    "features": [],
                    "occurrences": [],
                    "fullConfiguration": "default",
                    "configuration": "default",
                    "documentId": "a1c1addf75444f54b504f25c",
                    "elementId": "0b0c209535554345432581fe",
                    "documentMicroversion": "349f6413cafefe8fb4ab3b07"
                },
                "subAssemblies": [],
                "parts": [],
                "partStudioFeatures": []
            }
        ```

    Attributes:
        rootAssembly (RootAssembly): The root assembly in the document.
        subAssemblies (list[SubAssembly]): A list of sub-assemblies in the document.
        parts (list[Part]): A list of parts in the document.
        partStudioFeatures (list[dict]): A list of part studio features in the document.

    Custom Attributes:
        document (Union[Document, None]): The document object associated with the assembly. Defaults to None.
        name (Union[str, None]): The name of the assembly. Defaults to None.


    Examples:
        >>> Assembly(
        ...     rootAssembly=RootAssembly(
        ...         instances=[...],
        ...         patterns=[...],
        ...         features=[...],
        ...         occurrences=[...],
        ...         fullConfiguration="default",
        ...         configuration="default",
        ...         documentId="a1c1addf75444f54b504f25c",
        ...         elementId="0b0c209535554345432581fe",
        ...         documentMicroversion="349f6413cafefe8fb4ab3b07",
        ...     ),
        ...     subAssemblies=[...],
        ...     parts=[...],
        ...     partStudioFeatures=[...],
        ... )
        Assembly(
            rootAssembly=RootAssembly(
                instances=[...],
                patterns=[...],
                features=[...],
                occurrences=[...],
                fullConfiguration="default",
                configuration="default",
                documentId="a1c1addf75444f54b504f25c",
                elementId="0b0c209535554345432581fe",
                documentMicroversion="349f6413cafefe8fb4ab3b07",
            ),
            subAssemblies=[...],
            parts=[...],
            partStudioFeatures=[...],
        )
    """

    rootAssembly: RootAssembly = Field(..., description="The root assembly in the document.")
    subAssemblies: list[SubAssembly] = Field(..., description="A list of sub-assemblies in the document.")
    parts: list[Part] = Field(..., description="A list of parts in the document.")
    partStudioFeatures: list[dict] = Field(..., description="A list of part studio features in the document.")

    document: Union[Document, None] = Field(None, description="The document associated with the assembly.")
    name: Union[str, None] = Field(None, description="The name of the assembly.")

AssemblyFeature

Bases: BaseModel

Represents a feature within an assembly, such as a mate or pattern.

JSON 
    {
    "id": "Mw+URe/Uaxx5gIdlu",
    "suppressed": false,
    "featureType": "mate",
    "featureData": {
        "matedEntities" :
        [
            {
                "matedOccurrence" : [ "MDUJyqGNo7JJll+/h" ],
                "matedCS" :
                {
                    "xAxis" : [ 1.0, 0.0, 0.0 ],
                    "yAxis" : [ 0.0, 0.0, -1.0 ],
                    "zAxis" : [ 0.0, 1.0, 0.0 ],
                    "origin" : [ 0.0, -0.0505, 0.0 ]
                }
            }, {
                "matedOccurrence" : [ "MwoBIsds8rn1/0QXA" ],
                "matedCS" :
                {
                    "xAxis" : [ 0.8660254037844387, 0.0, -0.49999999999999994 ],
                    "yAxis" : [ -0.49999999999999994, 0.0, -0.8660254037844387 ],
                    "zAxis" : [ 0.0, 1.0, 0.0 ],
                    "origin" : [ 0.0, -0.0505, 0.0 ]
                }
            }
        ],
        "mateType" : "FASTENED",
        "name" : "Fastened 1"
        }
    }

Attributes:

Name Type Description
id str

The unique identifier of the feature.
suppressed bool

Indicates if the feature is suppressed.
featureType AssemblyFeatureType

The type of the feature.
featureData Union[MateGroupFeatureData, MateConnectorFeatureData, MateRelationFeatureData, MateFeatureData]

Data associated with the assembly feature.

Examples:

>>> AssemblyFeature(
...     id="Mw+URe/Uaxx5gIdlu",
...     suppressed=False,
...     featureType=AssemblyFeatureType.MATE,
...     featureData=MateFeatureData(
...         matedEntities=[...],
...         mateType=MateType.FASTENED,
...         name="Fastened 1",
...     ),
... )
AssemblyFeature(
    id="Mw+URe/Uaxx5gIdlu",
    suppressed=False,
    featureType=AssemblyFeatureType.MATE,
    featureData=MateFeatureData(
        matedEntities=[...],
        mateType=MateType.FASTENED,
        name="Fastened 1"
    )
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class AssemblyFeature(BaseModel):
    """
    Represents a feature within an assembly, such as a mate or pattern.

    JSON:
        ```json
            {
            "id": "Mw+URe/Uaxx5gIdlu",
            "suppressed": false,
            "featureType": "mate",
            "featureData": {
                "matedEntities" :
                [
                    {
                        "matedOccurrence" : [ "MDUJyqGNo7JJll+/h" ],
                        "matedCS" :
                        {
                            "xAxis" : [ 1.0, 0.0, 0.0 ],
                            "yAxis" : [ 0.0, 0.0, -1.0 ],
                            "zAxis" : [ 0.0, 1.0, 0.0 ],
                            "origin" : [ 0.0, -0.0505, 0.0 ]
                        }
                    }, {
                        "matedOccurrence" : [ "MwoBIsds8rn1/0QXA" ],
                        "matedCS" :
                        {
                            "xAxis" : [ 0.8660254037844387, 0.0, -0.49999999999999994 ],
                            "yAxis" : [ -0.49999999999999994, 0.0, -0.8660254037844387 ],
                            "zAxis" : [ 0.0, 1.0, 0.0 ],
                            "origin" : [ 0.0, -0.0505, 0.0 ]
                        }
                    }
                ],
                "mateType" : "FASTENED",
                "name" : "Fastened 1"
                }
            }
        ```

    Attributes:
        id (str): The unique identifier of the feature.
        suppressed (bool): Indicates if the feature is suppressed.
        featureType (AssemblyFeatureType): The type of the feature.
        featureData (Union[MateGroupFeatureData, MateConnectorFeatureData, MateRelationFeatureData, MateFeatureData]):
            Data associated with the assembly feature.

    Examples:
        >>> AssemblyFeature(
        ...     id="Mw+URe/Uaxx5gIdlu",
        ...     suppressed=False,
        ...     featureType=AssemblyFeatureType.MATE,
        ...     featureData=MateFeatureData(
        ...         matedEntities=[...],
        ...         mateType=MateType.FASTENED,
        ...         name="Fastened 1",
        ...     ),
        ... )
        AssemblyFeature(
            id="Mw+URe/Uaxx5gIdlu",
            suppressed=False,
            featureType=AssemblyFeatureType.MATE,
            featureData=MateFeatureData(
                matedEntities=[...],
                mateType=MateType.FASTENED,
                name="Fastened 1"
            )
        )
    """

    id: str = Field(..., description="The unique identifier of the feature.")
    suppressed: bool = Field(..., description="Indicates if the feature is suppressed.")
    featureType: AssemblyFeatureType = Field(..., description="The type of the feature.")
    featureData: Union[MateGroupFeatureData, MateConnectorFeatureData, MateRelationFeatureData, MateFeatureData] = (
        Field(..., description="Data associated with the assembly feature.")
    )

AssemblyFeatureType

Bases: str, Enum

Enumerates the type of assembly feature, e.g. mate, mateRelation, mateGroup, mateConnector

Attributes:

Name Type Description
MATE str

Represents a mate feature.
MATERELATION str

Represents a mate relation feature.
MATEGROUP str

Represents a mate group feature.
MATECONNECTOR str

Represents a mate connector feature.

Examples:

>>> AssemblyFeatureType.MATE
'mate'
>>> AssemblyFeatureType.MATERELATION
'mateRelation'
Source code in onshape_robotics_toolkit\models\assembly.py 
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class AssemblyFeatureType(str, Enum):
    """
    Enumerates the type of assembly feature, e.g. mate, mateRelation, mateGroup, mateConnector

    Attributes:
        MATE (str): Represents a mate feature.
        MATERELATION (str): Represents a mate relation feature.
        MATEGROUP (str): Represents a mate group feature.
        MATECONNECTOR (str): Represents a mate connector feature.

    Examples:
        >>> AssemblyFeatureType.MATE
        'mate'
        >>> AssemblyFeatureType.MATERELATION
        'mateRelation'
    """

    MATE = "mate"
    MATERELATION = "mateRelation"
    MATEGROUP = "mateGroup"
    MATECONNECTOR = "mateConnector"

AssemblyInstance

Bases: IDBase

Represents an instance of an assembly within another assembly.

JSON 
    {
        "id": "Mon18P7LPP8A9STk+",
        "type": "Assembly",
        "name": "subAssembly",
        "suppressed": false,
        "fullConfiguration": "default",
        "configuration": "default",
        "documentId": "a1c1addf75444f54b504f25c",
        "elementId": "f0b3a4afab120f778a4037df",
        "documentMicroversion": "349f6413cafefe8fb4ab3b07"
    }

Attributes:

Name Type Description
id str

The unique identifier for the assembly instance.
type InstanceType

The type of the instance, must be 'Assembly'.
name str

The name of the assembly instance.
suppressed bool

Indicates if the assembly instance is suppressed.

Examples:

>>> AssemblyInstance(
...     id="Mon18P7LPP8A9STk+",
...     type=InstanceType.ASSEMBLY,
...     name="subAssembly",
...     suppressed=False,
... )
AssemblyInstance(
    id="Mon18P7LPP8A9STk+",
    type=InstanceType.ASSEMBLY,
    name="subAssembly",
    suppressed=False,
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class AssemblyInstance(IDBase):
    """
    Represents an instance of an assembly within another assembly.

    JSON:
        ```json
            {
                "id": "Mon18P7LPP8A9STk+",
                "type": "Assembly",
                "name": "subAssembly",
                "suppressed": false,
                "fullConfiguration": "default",
                "configuration": "default",
                "documentId": "a1c1addf75444f54b504f25c",
                "elementId": "f0b3a4afab120f778a4037df",
                "documentMicroversion": "349f6413cafefe8fb4ab3b07"
            }
        ```

    Attributes:
        id (str): The unique identifier for the assembly instance.
        type (InstanceType): The type of the instance, must be 'Assembly'.
        name (str): The name of the assembly instance.
        suppressed (bool): Indicates if the assembly instance is suppressed.

    Examples:
        >>> AssemblyInstance(
        ...     id="Mon18P7LPP8A9STk+",
        ...     type=InstanceType.ASSEMBLY,
        ...     name="subAssembly",
        ...     suppressed=False,
        ... )
        AssemblyInstance(
            id="Mon18P7LPP8A9STk+",
            type=InstanceType.ASSEMBLY,
            name="subAssembly",
            suppressed=False,
        )
    """

    id: str = Field(..., description="The unique identifier for the assembly instance.")
    type: InstanceType = Field(..., description="The type of the instance, must be 'Assembly'.")
    name: str = Field(..., description="The name of the assembly instance.")
    suppressed: bool = Field(..., description="Indicates if the assembly instance is suppressed.")

    isRigid: bool = Field(
        False,
        description="Indicates if the assembly instance is a rigid assembly, i.e., \
        a sub-assembly with no degrees of freedom.",
    )

    @field_validator("type")
    def check_type(cls, v: InstanceType) -> InstanceType:
        """
        Validates that the type is 'Assembly'.

        Args:
            v (InstanceType): The type to validate.

        Returns:
            InstanceType: The validated type.
        """
        if v != InstanceType.ASSEMBLY:
            raise ValueError("Type must be Assembly")

        return v

check_type(v)

Validates that the type is 'Assembly'.

Parameters:

Name Type Description Default
v InstanceType

The type to validate.

 required

Returns:

Name Type Description
InstanceType InstanceType

The validated type.
Source code in onshape_robotics_toolkit\models\assembly.py 
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@field_validator("type")
def check_type(cls, v: InstanceType) -> InstanceType:
    """
    Validates that the type is 'Assembly'.

    Args:
        v (InstanceType): The type to validate.

    Returns:
        InstanceType: The validated type.
    """
    if v != InstanceType.ASSEMBLY:
        raise ValueError("Type must be Assembly")

    return v

IDBase

Bases: BaseModel

Base model providing common attributes for Part, SubAssembly, and AssemblyInstance models.

JSON 
    {
        "fullConfiguration" : "default",
        "configuration" : "default",
        "documentId" : "a1c1addf75444f54b504f25c",
        "elementId" : "0b0c209535554345432581fe",
        "documentMicroversion" : "12fabf866bef5a9114d8c4d2"
    }

Attributes:

Name Type Description
fullConfiguration str

The full configuration of the entity.
configuration str

The configuration of the entity.
documentId str

The unique identifier of the entity.
elementId str

The unique identifier of the entity.
documentMicroversion str

The microversion of the document.
Source code in onshape_robotics_toolkit\models\assembly.py 
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class IDBase(BaseModel):
    """
    Base model providing common attributes for Part, SubAssembly, and AssemblyInstance models.

    JSON:
        ```json
            {
                "fullConfiguration" : "default",
                "configuration" : "default",
                "documentId" : "a1c1addf75444f54b504f25c",
                "elementId" : "0b0c209535554345432581fe",
                "documentMicroversion" : "12fabf866bef5a9114d8c4d2"
            }
        ```

    Attributes:
        fullConfiguration (str): The full configuration of the entity.
        configuration (str): The configuration of the entity.
        documentId (str): The unique identifier of the entity.
        elementId (str): The unique identifier of the entity.
        documentMicroversion (str): The microversion of the document.
    """

    fullConfiguration: str = Field(..., description="The full configuration of the entity.")
    configuration: str = Field(..., description="The configuration of the entity.")
    documentId: str = Field(..., description="The unique identifier of the entity.")
    elementId: str = Field(..., description="The unique identifier of the entity.")
    documentMicroversion: str = Field(..., description="The microversion of the document.")

    @field_validator("documentId", "elementId", "documentMicroversion")
    def check_ids(cls, v: str) -> str:
        """
        Validates that the ID fields have exactly 24 characters.

        Args:
            v (str): The ID field to validate.

        Returns:
            str: The validated ID field.

        Raises:
            ValueError: If the ID field does not contain exactly 24 characters.
        """
        if len(v) != 24:
            raise ValueError("DocumentId must have 24 characters")

        return v

    @property
    def uid(self) -> str:
        """
        Generates a unique identifier for the part.

        Returns:
            str: The unique identifier generated from documentId, documentMicroversion,
                elementId, and fullConfiguration.
        """
        return generate_uid([self.documentId, self.documentMicroversion, self.elementId, self.fullConfiguration])

uid: str property

Generates a unique identifier for the part.

Returns:

Name Type Description
str str

The unique identifier generated from documentId, documentMicroversion, elementId, and fullConfiguration.

check_ids(v)

Validates that the ID fields have exactly 24 characters.

Parameters:

Name Type Description Default
v str

The ID field to validate.

 required

Returns:

Name Type Description
str str

The validated ID field.

Raises:

Type Description
ValueError

If the ID field does not contain exactly 24 characters.
Source code in onshape_robotics_toolkit\models\assembly.py 
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@field_validator("documentId", "elementId", "documentMicroversion")
def check_ids(cls, v: str) -> str:
    """
    Validates that the ID fields have exactly 24 characters.

    Args:
        v (str): The ID field to validate.

    Returns:
        str: The validated ID field.

    Raises:
        ValueError: If the ID field does not contain exactly 24 characters.
    """
    if len(v) != 24:
        raise ValueError("DocumentId must have 24 characters")

    return v

InstanceType

Bases: str, Enum

Enumerates the types of instances in an assembly, e.g. PART, ASSEMBLY.

Attributes:

Name Type Description
PART str

Represents a part instance.
ASSEMBLY str

Represents an assembly instance.

Examples:

>>> InstanceType.PART
'Part'
>>> InstanceType.ASSEMBLY
'Assembly'
Source code in onshape_robotics_toolkit\models\assembly.py 
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class InstanceType(str, Enum):
    """
    Enumerates the types of instances in an assembly, e.g. PART, ASSEMBLY.

    Attributes:
        PART (str): Represents a part instance.
        ASSEMBLY (str): Represents an assembly instance.

    Examples:
        >>> InstanceType.PART
        'Part'
        >>> InstanceType.ASSEMBLY
        'Assembly'
    """

    PART = "Part"
    ASSEMBLY = "Assembly"

MateConnectorFeatureData

Bases: BaseModel

Represents data for a mate connector feature within an assembly.

JSON 
    {
        "mateConnectorCS": {
            "xAxis": [1.0, 0.0, 0.0],
            "yAxis": [0.0, 0.0, -1.0],
            "zAxis": [0.0, 1.0, 0.0],
            "origin": [0.0, -0.0505, 0.0]
        },
        "occurrence": [
            "MplKLzV/4d+nqmD18"
        ],
        "name": "Mate connector 1"
    }

Attributes:

Name Type Description
mateConnectorCS MatedCS

The coordinate system used for the mate connector.
occurrence list[str]

A list of identifiers for the occurrences involved in the mate connector.
name str

The name of the mate connector feature.
Custom Attributes

id (str): The unique identifier of the feature.

Examples:

>>> MateConnectorFeatureData(
...     mateConnectorCS=MatedCS(
...         xAxis=[1.0, 0.0, 0.0],
...         yAxis=[0.0, 0.0, -1.0],
...         zAxis=[0.0, 1.0, 0.0],
...         origin=[0.0, -0.0505, 0.0],
...     ),
...     occurrence=["MplKLzV/4d+nqmD18"],
...     name="Mate connector 1",
... )
MateConnectorFeatureData(
    mateConnectorCS=MatedCS(
        xAxis=[1.0, 0.0, 0.0],
        yAxis=[0.0, 0.0, -1.0],
        zAxis=[0.0, 1.0, 0.0],
        origin=[0.0, -0.0505, 0.0]
    ),
    occurrence=["MplKLzV/4d+nqmD18"],
    name="Mate connector 1"
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class MateConnectorFeatureData(BaseModel):
    """
    Represents data for a mate connector feature within an assembly.

    JSON:
        ```json
            {
                "mateConnectorCS": {
                    "xAxis": [1.0, 0.0, 0.0],
                    "yAxis": [0.0, 0.0, -1.0],
                    "zAxis": [0.0, 1.0, 0.0],
                    "origin": [0.0, -0.0505, 0.0]
                },
                "occurrence": [
                    "MplKLzV/4d+nqmD18"
                ],
                "name": "Mate connector 1"
            }
        ```

    Attributes:
        mateConnectorCS (MatedCS): The coordinate system used for the mate connector.
        occurrence (list[str]): A list of identifiers for the occurrences involved in the mate connector.
        name (str): The name of the mate connector feature.

    Custom Attributes:
        id (str): The unique identifier of the feature.

    Examples:
        >>> MateConnectorFeatureData(
        ...     mateConnectorCS=MatedCS(
        ...         xAxis=[1.0, 0.0, 0.0],
        ...         yAxis=[0.0, 0.0, -1.0],
        ...         zAxis=[0.0, 1.0, 0.0],
        ...         origin=[0.0, -0.0505, 0.0],
        ...     ),
        ...     occurrence=["MplKLzV/4d+nqmD18"],
        ...     name="Mate connector 1",
        ... )
        MateConnectorFeatureData(
            mateConnectorCS=MatedCS(
                xAxis=[1.0, 0.0, 0.0],
                yAxis=[0.0, 0.0, -1.0],
                zAxis=[0.0, 1.0, 0.0],
                origin=[0.0, -0.0505, 0.0]
            ),
            occurrence=["MplKLzV/4d+nqmD18"],
            name="Mate connector 1"
        )
    """

    mateConnectorCS: MatedCS = Field(..., description="The coordinate system used for the mate connector.")
    occurrence: list[str] = Field(
        ..., description="A list of identifiers for the occurrences involved in the mate connector."
    )
    name: str = Field(..., description="The name of the mate connector feature.")

    id: str = Field(None, description="The unique identifier of the feature.")

MateFeatureData

Bases: BaseModel

Represents data for a mate feature within an assembly.

JSON 
    {
        "matedEntities" :
        [
            {
                "matedOccurrence" : [ "MDUJyqGNo7JJll+/h" ],
                "matedCS" :
                {
                    "xAxis" : [ 1.0, 0.0, 0.0 ],
                    "yAxis" : [ 0.0, 0.0, -1.0 ],
                    "zAxis" : [ 0.0, 1.0, 0.0 ],
                    "origin" : [ 0.0, -0.0505, 0.0 ]
                }
            }, {
                "matedOccurrence" : [ "MwoBIsds8rn1/0QXA" ],
                "matedCS" :
                {
                    "xAxis" : [ 0.8660254037844387, 0.0, -0.49999999999999994 ],
                    "yAxis" : [ -0.49999999999999994, 0.0, -0.8660254037844387 ],
                    "zAxis" : [ 0.0, 1.0, 0.0 ],
                    "origin" : [ 0.0, -0.0505, 0.0 ]
                }
            }
        ],
        "mateType" : "FASTENED",
        "name" : "Fastened 1"
    }

Attributes:

Name Type Description
matedEntities list[MatedEntity]

A list of mated entities.
mateType MateType

The type of mate.
name str

The name of the mate feature.
Custom Attributes

id (str): The unique identifier of the feature.

Examples:

>>> MateFeatureData(
...     matedEntities=[...],
...     mateType=MateType.FASTENED,
...     name="Fastened 1",
... )
MateFeatureData(
    matedEntities=[...],
    mateType=MateType.FASTENED,
    name="Fastened 1"
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class MateFeatureData(BaseModel):
    """
    Represents data for a mate feature within an assembly.

    JSON:
        ```json
            {
                "matedEntities" :
                [
                    {
                        "matedOccurrence" : [ "MDUJyqGNo7JJll+/h" ],
                        "matedCS" :
                        {
                            "xAxis" : [ 1.0, 0.0, 0.0 ],
                            "yAxis" : [ 0.0, 0.0, -1.0 ],
                            "zAxis" : [ 0.0, 1.0, 0.0 ],
                            "origin" : [ 0.0, -0.0505, 0.0 ]
                        }
                    }, {
                        "matedOccurrence" : [ "MwoBIsds8rn1/0QXA" ],
                        "matedCS" :
                        {
                            "xAxis" : [ 0.8660254037844387, 0.0, -0.49999999999999994 ],
                            "yAxis" : [ -0.49999999999999994, 0.0, -0.8660254037844387 ],
                            "zAxis" : [ 0.0, 1.0, 0.0 ],
                            "origin" : [ 0.0, -0.0505, 0.0 ]
                        }
                    }
                ],
                "mateType" : "FASTENED",
                "name" : "Fastened 1"
            }
        ```

    Attributes:
        matedEntities (list[MatedEntity]): A list of mated entities.
        mateType (MateType): The type of mate.
        name (str): The name of the mate feature.

    Custom Attributes:
        id (str): The unique identifier of the feature.

    Examples:
        >>> MateFeatureData(
        ...     matedEntities=[...],
        ...     mateType=MateType.FASTENED,
        ...     name="Fastened 1",
        ... )
        MateFeatureData(
            matedEntities=[...],
            mateType=MateType.FASTENED,
            name="Fastened 1"
        )

    """

    class Config:
        arbitrary_types_allowed = True

    matedEntities: list[MatedEntity] = Field(..., description="A list of mated entities.")
    mateType: MateType = Field(..., description="The type of mate.")
    name: str = Field(..., description="The name of the mate feature.")

    id: str = Field(None, description="The unique identifier of the feature.")

MateGroupFeatureData

Bases: BaseModel

Represents data for a mate group feature within an assembly.

JSON 
    {
        "occurrences": [
            {
                "occurrence": ["MplKLzV/4d+nqmD18"]
            }
        ],
        "name": "Mate group 1"
    }

Attributes:

Name Type Description
occurrences list[MateGroupFeatureOccurrence]

A list of occurrences in the mate group feature.
name str

The name of the mate group feature.
Custom Attributes

id (str): The unique identifier of the feature.

Examples:

>>> MateGroupFeatureData(
...     occurrences=[
...         MateGroupFeatureOccurrence(
...             occurrence=["MplKLzV/4d+nqmD18"],
...         )
...     ],
...     name="Mate group 1",
... )
MateGroupFeatureData(
    occurrences=[
        MateGroupFeatureOccurrence(
            occurrence=["MplKLzV/4d+nqmD18"]
        )
    ],
    name="Mate group 1"
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class MateGroupFeatureData(BaseModel):
    """
    Represents data for a mate group feature within an assembly.

    JSON:
        ```json
            {
                "occurrences": [
                    {
                        "occurrence": ["MplKLzV/4d+nqmD18"]
                    }
                ],
                "name": "Mate group 1"
            }
        ```

    Attributes:
        occurrences (list[MateGroupFeatureOccurrence]): A list of occurrences in the mate group feature.
        name (str): The name of the mate group feature.

    Custom Attributes:
        id (str): The unique identifier of the feature.

    Examples:
        >>> MateGroupFeatureData(
        ...     occurrences=[
        ...         MateGroupFeatureOccurrence(
        ...             occurrence=["MplKLzV/4d+nqmD18"],
        ...         )
        ...     ],
        ...     name="Mate group 1",
        ... )
        MateGroupFeatureData(
            occurrences=[
                MateGroupFeatureOccurrence(
                    occurrence=["MplKLzV/4d+nqmD18"]
                )
            ],
            name="Mate group 1"
        )
    """

    occurrences: list[MateGroupFeatureOccurrence] = Field(
        ..., description="A list of occurrences in the mate group feature."
    )
    name: str = Field(..., description="The name of the mate group feature.")

    id: str = Field(None, description="The unique identifier of the feature.")

MateGroupFeatureOccurrence

Bases: BaseModel

Represents an occurrence of a mate group feature within an assembly.

JSON 
    {
        "occurrence": ["MplKLzV/4d+nqmD18"]
    }

Attributes:

Name Type Description
occurrence list[str]

A list of identifiers for the occurrences in the mate group feature.

Examples:

>>> MateGroupFeatureOccurrence(
...     occurrence=["MplKLzV/4d+nqmD18"],
... )
MateGroupFeatureOccurrence(
    occurrence=["MplKLzV/4d+nqmD18"]
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class MateGroupFeatureOccurrence(BaseModel):
    """
    Represents an occurrence of a mate group feature within an assembly.

    JSON:
        ```json
            {
                "occurrence": ["MplKLzV/4d+nqmD18"]
            }
        ```

    Attributes:
        occurrence (list[str]): A list of identifiers for the occurrences in the mate group feature.

    Examples:
        >>> MateGroupFeatureOccurrence(
        ...     occurrence=["MplKLzV/4d+nqmD18"],
        ... )
        MateGroupFeatureOccurrence(
            occurrence=["MplKLzV/4d+nqmD18"]
        )
    """

    occurrence: list[str] = Field(
        ..., description="A list of identifiers for the occurrences in the mate group feature."
    )

MateRelationFeatureData

Bases: BaseModel

Represents data for a mate relation feature within an assembly.

JSON 
    {
        "relationType": "GEAR",
        "mates": [
            {
            "featureId": "S4/TgCRmQt1nIHHp",
            "occurrence": []
            },
            {
            "featureId": "QwaoOeXYPifsN7CP",
            "occurrence": []
            }
        ],
        "reverseDirection": false,
        "relationRatio": 1,
        "name": "Gear 1"
    }

Attributes:

Name Type Description
relationType RelationType

The type of mate relation.
mates list[MateRelationMate]

A list of mate relations.
reverseDirection bool

Indicates if the direction of the mate relation is reversed.
relationRatio Union[float, None]

The ratio of the GEAR mate relation. Defaults to None.
relationLength Union[float, None]

The length of the RACK_AND_PINION mate relation. Defaults to None.
name str

The name of the mate relation feature.
Custom Attributes

id (str): The unique identifier of the feature.

Examples:

>>> MateRelationFeatureData(
...     relationType=RelationType.GEAR,
...     mates=[...],
...     reverseDirection=False,
...     relationRatio=1,
...     name="Gear 1",
... )
MateRelationFeatureData(
    relationType=RelationType.GEAR,
    mates=[...],
    reverseDirection=False,
    relationRatio=1,
    name="Gear 1"
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class MateRelationFeatureData(BaseModel):
    """
    Represents data for a mate relation feature within an assembly.

    JSON:
        ```json
            {
                "relationType": "GEAR",
                "mates": [
                    {
                    "featureId": "S4/TgCRmQt1nIHHp",
                    "occurrence": []
                    },
                    {
                    "featureId": "QwaoOeXYPifsN7CP",
                    "occurrence": []
                    }
                ],
                "reverseDirection": false,
                "relationRatio": 1,
                "name": "Gear 1"
            }
        ```

    Attributes:
        relationType (RelationType): The type of mate relation.
        mates (list[MateRelationMate]): A list of mate relations.
        reverseDirection (bool): Indicates if the direction of the mate relation is reversed.
        relationRatio (Union[float, None]): The ratio of the GEAR mate relation. Defaults to None.
        relationLength (Union[float, None]): The length of the RACK_AND_PINION mate relation. Defaults to None.
        name (str): The name of the mate relation feature.

    Custom Attributes:
        id (str): The unique identifier of the feature.

    Examples:
        >>> MateRelationFeatureData(
        ...     relationType=RelationType.GEAR,
        ...     mates=[...],
        ...     reverseDirection=False,
        ...     relationRatio=1,
        ...     name="Gear 1",
        ... )
        MateRelationFeatureData(
            relationType=RelationType.GEAR,
            mates=[...],
            reverseDirection=False,
            relationRatio=1,
            name="Gear 1"
        )
    """

    relationType: RelationType = Field(..., description="The type of mate relation.")
    mates: list[MateRelationMate] = Field(..., description="A list of mate relations.")
    reverseDirection: bool = Field(..., description="Indicates if the direction of the mate relation is reversed.")
    relationRatio: Union[float, None] = Field(
        None, description="The ratio of the GEAR mate relation. Defaults to None."
    )
    relationLength: Union[float, None] = Field(
        None, description="The length of the RACK_AND_PINION mate relation. Defaults to None."
    )
    name: str = Field(..., description="The name of the mate relation feature.")

    id: str = Field(None, description="The unique identifier of the feature.")

MateRelationMate

Bases: BaseModel

Represents a mate relation within an assembly, defining how parts or sub-assemblies are connected.

JSON 
    {
        "featureId": "S4/TgCRmQt1nIHHp",
        "occurrence": []
    }

Attributes:

Name Type Description
featureId str

The unique identifier of the mate feature.
occurrence list[str]

A list of identifiers for the occurrences involved in the mate relation.

Examples:

>>> MateRelationMate(
...     featureId="S4/TgCRmQt1nIHHp",
...     occurrence=[],
... )
MateRelationMate(
    featureId="S4/TgCRmQt1nIHHp",
    occurrence=[],
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class MateRelationMate(BaseModel):
    """
    Represents a mate relation within an assembly, defining how parts or sub-assemblies are connected.

    JSON:
        ```json
            {
                "featureId": "S4/TgCRmQt1nIHHp",
                "occurrence": []
            }
        ```

    Attributes:
        featureId (str): The unique identifier of the mate feature.
        occurrence (list[str]): A list of identifiers for the occurrences involved in the mate relation.

    Examples:
        >>> MateRelationMate(
        ...     featureId="S4/TgCRmQt1nIHHp",
        ...     occurrence=[],
        ... )
        MateRelationMate(
            featureId="S4/TgCRmQt1nIHHp",
            occurrence=[],
        )
    """

    featureId: str = Field(..., description="The unique identifier of the mate feature.")
    occurrence: list[str] = Field(
        ..., description="A list of identifiers for the occurrences involved in the mate relation."
    )

MateType

Bases: str, Enum

Enumerates the type of mate between two parts or assemblies, e.g. SLIDER, CYLINDRICAL, REVOLUTE, etc.

Attributes:

Name Type Description
SLIDER str

Represents a slider mate.
CYLINDRICAL str

Represents a cylindrical mate.
REVOLUTE str

Represents a revolute mate.
PIN_SLOT str

Represents a pin-slot mate.
PLANAR str

Represents a planar mate.
BALL str

Represents a ball mate.
FASTENED str

Represents a fastened mate.
PARALLEL str

Represents a parallel mate.

Examples:

>>> MateType.SLIDER
'SLIDER'
>>> MateType.CYLINDRICAL
'CYLINDRICAL'
Source code in onshape_robotics_toolkit\models\assembly.py 
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class MateType(str, Enum):
    """
    Enumerates the type of mate between two parts or assemblies, e.g. SLIDER, CYLINDRICAL, REVOLUTE, etc.

    Attributes:
        SLIDER (str): Represents a slider mate.
        CYLINDRICAL (str): Represents a cylindrical mate.
        REVOLUTE (str): Represents a revolute mate.
        PIN_SLOT (str): Represents a pin-slot mate.
        PLANAR (str): Represents a planar mate.
        BALL (str): Represents a ball mate.
        FASTENED (str): Represents a fastened mate.
        PARALLEL (str): Represents a parallel mate.

    Examples:
        >>> MateType.SLIDER
        'SLIDER'
        >>> MateType.CYLINDRICAL
        'CYLINDRICAL'
    """

    SLIDER = "SLIDER"
    CYLINDRICAL = "CYLINDRICAL"
    REVOLUTE = "REVOLUTE"
    PIN_SLOT = "PIN_SLOT"
    PLANAR = "PLANAR"
    BALL = "BALL"
    FASTENED = "FASTENED"
    PARALLEL = "PARALLEL"

MatedCS

Bases: BaseModel

Represents a coordinate system used for mating parts within an assembly.

JSON 
    {
        "xAxis" : [ 1.0, 0.0, 0.0 ],
        "yAxis" : [ 0.0, 0.0, -1.0 ],
        "zAxis" : [ 0.0, 1.0, 0.0 ],
        "origin" : [ 0.0, -0.0505, 0.0 ]
    }

Attributes:

Name Type Description
xAxis list[float]

The x-axis vector of the coordinate system.
yAxis list[float]

The y-axis vector of the coordinate system.
zAxis list[float]

The z-axis vector of the coordinate system.
origin list[float]

The origin point of the coordinate system.

Examples:

>>> MatedCS(
...     xAxis=[1.0, 0.0, 0.0],
...     yAxis=[0.0, 0.0, -1.0],
...     zAxis=[0.0, 1.0, 0.0],
...     origin=[0.0, -0.0505, 0.0],
... )
MatedCS(
    xAxis=[1.0, 0.0, 0.0],
    yAxis=[0.0, 0.0, -1.0],
    zAxis=[0.0, 1.0, 0.0],
    origin=[0.0, -0.0505, 0.0]
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class MatedCS(BaseModel):
    """
    Represents a coordinate system used for mating parts within an assembly.

    JSON:
        ```json
            {
                "xAxis" : [ 1.0, 0.0, 0.0 ],
                "yAxis" : [ 0.0, 0.0, -1.0 ],
                "zAxis" : [ 0.0, 1.0, 0.0 ],
                "origin" : [ 0.0, -0.0505, 0.0 ]
            }
        ```

    Attributes:
        xAxis (list[float]): The x-axis vector of the coordinate system.
        yAxis (list[float]): The y-axis vector of the coordinate system.
        zAxis (list[float]): The z-axis vector of the coordinate system.
        origin (list[float]): The origin point of the coordinate system.

    Examples:
        >>> MatedCS(
        ...     xAxis=[1.0, 0.0, 0.0],
        ...     yAxis=[0.0, 0.0, -1.0],
        ...     zAxis=[0.0, 1.0, 0.0],
        ...     origin=[0.0, -0.0505, 0.0],
        ... )
        MatedCS(
            xAxis=[1.0, 0.0, 0.0],
            yAxis=[0.0, 0.0, -1.0],
            zAxis=[0.0, 1.0, 0.0],
            origin=[0.0, -0.0505, 0.0]
        )
    """

    class Config:
        arbitrary_types_allowed = True

    xAxis: list[float] = Field(..., description="The x-axis vector of the coordinate system.")
    yAxis: list[float] = Field(..., description="The y-axis vector of the coordinate system.")
    zAxis: list[float] = Field(..., description="The z-axis vector of the coordinate system.")
    origin: list[float] = Field(..., description="The origin point of the coordinate system.")

    part_tf: np.matrix = Field(
        None, description="The 4x4 transformation matrix from the part coordinate system to the mate coordinate system."
    )

    @field_validator("xAxis", "yAxis", "zAxis", "origin")
    def check_vectors(cls, v: list[float]) -> list[float]:
        """
        Validates that the vectors have exactly 3 values.

        Args:
            v (list[float]): The vector to validate.

        Returns:
            list[float]: The validated vector.

        Raises:
            ValueError: If the vector does not have exactly 3 values.
        """
        if len(v) != 3:
            raise ValueError("Vectors must have 3 values")

        return v

    @property
    def part_to_mate_tf(self) -> np.matrix:
        """
        Generates a transformation matrix from the part coordinate system to the mate coordinate system.

        Returns:
            np.matrix: The 4x4 transformation matrix.
        """
        if self.part_tf is not None:
            return self.part_tf

        rotation_matrix = np.array([self.xAxis, self.yAxis, self.zAxis]).T
        translation_vector = np.array(self.origin)
        part_to_mate_tf = np.eye(4)
        part_to_mate_tf[:3, :3] = rotation_matrix
        part_to_mate_tf[:3, 3] = translation_vector
        return np.matrix(part_to_mate_tf)

    @classmethod
    def from_tf(cls, tf: np.matrix) -> "MatedCS":
        """
        Creates a MatedCS object from a 4x4 transformation matrix.

        Args:
            tf (np.matrix): The 4x4 transformation matrix.

        Returns:
            MatedCS: The MatedCS object created from the transformation matrix.
        """
        return MatedCS(
            xAxis=tf[:3, 0].flatten().tolist()[0],
            yAxis=tf[:3, 1].flatten().tolist()[0],
            zAxis=tf[:3, 2].flatten().tolist()[0],
            origin=tf[:3, 3].flatten().tolist()[0],
            part_tf=tf,
        )

part_to_mate_tf: np.matrix property

Generates a transformation matrix from the part coordinate system to the mate coordinate system.

Returns:

Type Description
matrix

np.matrix: The 4x4 transformation matrix.

check_vectors(v)

Validates that the vectors have exactly 3 values.

Parameters:

Name Type Description Default
v list[float]

The vector to validate.

 required

Returns:

Type Description
list[float]

list[float]: The validated vector.

Raises:

Type Description
ValueError

If the vector does not have exactly 3 values.
Source code in onshape_robotics_toolkit\models\assembly.py 
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@field_validator("xAxis", "yAxis", "zAxis", "origin")
def check_vectors(cls, v: list[float]) -> list[float]:
    """
    Validates that the vectors have exactly 3 values.

    Args:
        v (list[float]): The vector to validate.

    Returns:
        list[float]: The validated vector.

    Raises:
        ValueError: If the vector does not have exactly 3 values.
    """
    if len(v) != 3:
        raise ValueError("Vectors must have 3 values")

    return v

from_tf(tf) classmethod

Creates a MatedCS object from a 4x4 transformation matrix.

Parameters:

Name Type Description Default
tf matrix

The 4x4 transformation matrix.

 required

Returns:

Name Type Description
MatedCS MatedCS

The MatedCS object created from the transformation matrix.
Source code in onshape_robotics_toolkit\models\assembly.py 
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@classmethod
def from_tf(cls, tf: np.matrix) -> "MatedCS":
    """
    Creates a MatedCS object from a 4x4 transformation matrix.

    Args:
        tf (np.matrix): The 4x4 transformation matrix.

    Returns:
        MatedCS: The MatedCS object created from the transformation matrix.
    """
    return MatedCS(
        xAxis=tf[:3, 0].flatten().tolist()[0],
        yAxis=tf[:3, 1].flatten().tolist()[0],
        zAxis=tf[:3, 2].flatten().tolist()[0],
        origin=tf[:3, 3].flatten().tolist()[0],
        part_tf=tf,
    )

MatedEntity

Bases: BaseModel

Represents an entity that is mated within an assembly, including its coordinate system.

JSON 
    {
        "matedOccurrence": ["MDUJyqGNo7JJll+/h"],
        "matedCS": {
            "xAxis": [1.0, 0.0, 0.0],
            "yAxis": [0.0, 0.0, -1.0],
            "zAxis": [0.0, 1.0, 0.0],
            "origin": [0.0, -0.0505, 0.0]
        }
    }

Attributes:

Name Type Description
matedOccurrence list[str]

A list of identifiers for the occurrences that are mated.
matedCS MatedCS

The coordinate system used for mating the parts.

Examples:

>>> MatedEntity(
...     matedOccurrence=["MDUJyqGNo7JJll+/h"],
...     matedCS=MatedCS(
...         xAxis=[1.0, 0.0, 0.0],
...         yAxis=[0.0, 0.0, -1.0],
...         zAxis=[0.0, 1.0, 0.0],
...         origin=[0.0, -0.0505, 0.0],
...     ),
... )
MatedEntity(
    matedOccurrence=["MDUJyqGNo7JJll+/h"],
    matedCS=MatedCS(
        xAxis=[1.0, 0.0, 0.0],
        yAxis=[0.0, 0.0, -1.0],
        zAxis=[0.0, 1.0, 0.0],
        origin=[0.0, -0.0505, 0.0]
    )
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class MatedEntity(BaseModel):
    """
    Represents an entity that is mated within an assembly, including its coordinate system.

    JSON:
        ```json
            {
                "matedOccurrence": ["MDUJyqGNo7JJll+/h"],
                "matedCS": {
                    "xAxis": [1.0, 0.0, 0.0],
                    "yAxis": [0.0, 0.0, -1.0],
                    "zAxis": [0.0, 1.0, 0.0],
                    "origin": [0.0, -0.0505, 0.0]
                }
            }
        ```

    Attributes:
        matedOccurrence (list[str]): A list of identifiers for the occurrences that are mated.
        matedCS (MatedCS): The coordinate system used for mating the parts.

    Examples:
        >>> MatedEntity(
        ...     matedOccurrence=["MDUJyqGNo7JJll+/h"],
        ...     matedCS=MatedCS(
        ...         xAxis=[1.0, 0.0, 0.0],
        ...         yAxis=[0.0, 0.0, -1.0],
        ...         zAxis=[0.0, 1.0, 0.0],
        ...         origin=[0.0, -0.0505, 0.0],
        ...     ),
        ... )
        MatedEntity(
            matedOccurrence=["MDUJyqGNo7JJll+/h"],
            matedCS=MatedCS(
                xAxis=[1.0, 0.0, 0.0],
                yAxis=[0.0, 0.0, -1.0],
                zAxis=[0.0, 1.0, 0.0],
                origin=[0.0, -0.0505, 0.0]
            )
        )
    """

    matedOccurrence: list[str] = Field(..., description="A list of identifiers for the occurrences that are mated.")
    matedCS: MatedCS = Field(..., description="The coordinate system used for mating the parts.")

    parentCS: MatedCS = Field(
        None, description="The 4x4 transformation matrix for the mate feature, used for custom transformations."
    )

Occurrence

Bases: BaseModel

Represents an occurrence of a part or sub-assembly within an assembly.

JSON 
    {
        "fixed": false,
        "transform": [
            0.8660254037844396, 0.0, 0.5000000000000004, 0.09583333333333346,
            0.0, 1.0, 0.0, -1.53080849893419E-19,
            -0.5000000000000004, 0.0, 0.8660254037844396, 0.16598820239201767,
            0.0, 0.0, 0.0, 1.0
        ],
        "hidden": false,
        "path": ["M0Cyvy+yIq8Rd7En0"]
    }

Attributes:

Name Type Description
fixed bool

Indicates if the occurrence is fixed in space.
transform list[float]

A 4x4 transformation matrix represented as a list of 16 floats.
hidden bool

Indicates if the occurrence is hidden.
path list[str]

A list of strings representing the path to the instance.

Examples:

>>> Occurrence(
...     fixed=False,
...     transform=[
...         0.8660254037844396, 0.0, 0.5000000000000004, 0.09583333333333346,
...         0.0, 1.0, 0.0, -1.53080849893419E-19,
...         -0.5000000000000004, 0.0, 0.8660254037844396, 0.16598820239201767,
...         0.0, 0.0, 0.0, 1.0)
...     ],
...     hidden=False,
...     path=["M0Cyvy+yIq8Rd7En0"]
... )
Occurrence(
    fixed=False,
    transform=[...],
    hidden=False,
    path=["M0Cyvy+yIq8Rd7En0"]
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class Occurrence(BaseModel):
    """
    Represents an occurrence of a part or sub-assembly within an assembly.

    JSON:
        ```json
            {
                "fixed": false,
                "transform": [
                    0.8660254037844396, 0.0, 0.5000000000000004, 0.09583333333333346,
                    0.0, 1.0, 0.0, -1.53080849893419E-19,
                    -0.5000000000000004, 0.0, 0.8660254037844396, 0.16598820239201767,
                    0.0, 0.0, 0.0, 1.0
                ],
                "hidden": false,
                "path": ["M0Cyvy+yIq8Rd7En0"]
            }
        ```

    Attributes:
        fixed (bool): Indicates if the occurrence is fixed in space.
        transform (list[float]): A 4x4 transformation matrix represented as a list of 16 floats.
        hidden (bool): Indicates if the occurrence is hidden.
        path (list[str]): A list of strings representing the path to the instance.

    Examples:
        >>> Occurrence(
        ...     fixed=False,
        ...     transform=[
        ...         0.8660254037844396, 0.0, 0.5000000000000004, 0.09583333333333346,
        ...         0.0, 1.0, 0.0, -1.53080849893419E-19,
        ...         -0.5000000000000004, 0.0, 0.8660254037844396, 0.16598820239201767,
        ...         0.0, 0.0, 0.0, 1.0)
        ...     ],
        ...     hidden=False,
        ...     path=["M0Cyvy+yIq8Rd7En0"]
        ... )
        Occurrence(
            fixed=False,
            transform=[...],
            hidden=False,
            path=["M0Cyvy+yIq8Rd7En0"]
        )
    """

    fixed: bool = Field(..., description="Indicates if the occurrence is fixed in space.")
    transform: list[float] = Field(..., description="A 4x4 transformation matrix represented as a list of 16 floats.")
    hidden: bool = Field(..., description="Indicates if the occurrence is hidden.")
    path: list[str] = Field(..., description="A list of strings representing the path to the instance.")

    @field_validator("transform")
    def check_transform(cls, v: list[float]) -> list[float]:
        """
        Validates that the transform list has exactly 16 values.

        Args:
            v (list[float]): The transform list to validate.

        Returns:
            list[float]: The validated transform list.

        Raises:
            ValueError: If the transform list does not contain exactly 16 values.
        """
        if len(v) != 16:
            raise ValueError("Transform must have 16 values")

        return v

check_transform(v)

Validates that the transform list has exactly 16 values.

Parameters:

Name Type Description Default
v list[float]

The transform list to validate.

 required

Returns:

Type Description
list[float]

list[float]: The validated transform list.

Raises:

Type Description
ValueError

If the transform list does not contain exactly 16 values.
Source code in onshape_robotics_toolkit\models\assembly.py 
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@field_validator("transform")
def check_transform(cls, v: list[float]) -> list[float]:
    """
    Validates that the transform list has exactly 16 values.

    Args:
        v (list[float]): The transform list to validate.

    Returns:
        list[float]: The validated transform list.

    Raises:
        ValueError: If the transform list does not contain exactly 16 values.
    """
    if len(v) != 16:
        raise ValueError("Transform must have 16 values")

    return v

Part

Bases: IDBase

Represents a part within an assembly, including its properties and configuration.

JSON 
    {
        "isStandardContent": false,
        "partId": "RDBD",
        "bodyType": "solid",
        "fullConfiguration": "default",
        "configuration": "default",
        "documentId": "a1c1addf75444f54b504f25c",
        "elementId": "0b0c209535554345432581fe",
        "documentMicroversion": "349f6413cafefe8fb4ab3b07"
    }

Attributes:

Name Type Description
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).
Custom Attributes

MassProperty (Union[MassProperties, None]): The mass properties of the part, if available.

Examples:

>>> Part(
...     isStandardContent=False,
...     partId="RDBD",
...     bodyType="solid",
... )
Part(
    isStandardContent=False,
    partId="RDBD",
    bodyType="solid",
    MassProperty=None
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class Part(IDBase):
    """
    Represents a part within an assembly, including its properties and configuration.

    JSON:
        ```json
            {
                "isStandardContent": false,
                "partId": "RDBD",
                "bodyType": "solid",
                "fullConfiguration": "default",
                "configuration": "default",
                "documentId": "a1c1addf75444f54b504f25c",
                "elementId": "0b0c209535554345432581fe",
                "documentMicroversion": "349f6413cafefe8fb4ab3b07"
            }
        ```

    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).

    Custom Attributes:
        MassProperty (Union[MassProperties, None]): The mass properties of the part, if available.

    Examples:
        >>> Part(
        ...     isStandardContent=False,
        ...     partId="RDBD",
        ...     bodyType="solid",
        ... )
        Part(
            isStandardContent=False,
            partId="RDBD",
            bodyType="solid",
            MassProperty=None
        )

    """

    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).")
    mateConnectors: list[PartMateConnector] = Field(None, description="The mate connectors that belong to the part.")
    documentVersion: str = Field(None, description="The version of the document.")
    MassProperty: Union[MassProperties, None] = Field(
        None, description="The mass properties of the part, this is a retrieved via a separate API call."
    )

    isRigidAssembly: bool = Field(
        False, description="Indicates if the part is a rigid assembly, i.e., a sub-assembly with no degrees of freedom."
    )
    rigidAssemblyToPartTF: Union[dict[str, "MatedCS"], None] = Field(
        None, description="The transformation matrix from the rigid assembly to the part coordinate system."
    )
    rigidAssemblyWorkspaceId: Union[str, None] = Field(
        None, description="The workspace ID of the rigid assembly, if it is a sub-assembly."
    )

    @property
    def uid(self) -> str:
        """
        Generates a unique identifier for the part.

        Returns:
            str: The unique identifier generated from documentId, documentMicroversion,
                elementId, partId, and fullConfiguration.
        """
        return generate_uid([
            self.documentId,
            self.documentMicroversion,
            self.elementId,
            self.partId,
            self.fullConfiguration,
        ])

uid: str property

Generates a unique identifier for the part.

Returns:

Name Type Description
str str

The unique identifier generated from documentId, documentMicroversion, elementId, partId, and fullConfiguration.

PartInstance

Bases: IDBase

Represents an instance of a part within an assembly.

JSON 
    {
        "isStandardContent": false,
        "type": "Part",
        "id": "M0Cyvy+yIq8Rd7En0",
        "name": "Part 1 <2>",
        "suppressed": false,
        "partId": "JHD",
        "fullConfiguration": "default",
        "configuration": "default",
        "documentId": "a1c1addf75444f54b504f25c",
        "elementId": "0b0c209535554345432581fe",
        "documentMicroversion": "349f6413cafefe8fb4ab3b07"
    }

Attributes:

Name Type Description
isStandardContent bool

Indicates if the part is standard content.
type InstanceType

The type of the instance, must be 'Part'.
id str

The unique identifier for the part instance.
name str

The name of the part instance.
suppressed bool

Indicates if the part instance is suppressed.
partId str

The identifier for the part.

Examples:

>>> PartInstance(
...     isStandardContent=False,
...     type=InstanceType.PART,
...     id="M0Cyvy+yIq8Rd7En0",
...     name="Part 1 <2>",
...     suppressed=False,
...     partId="JHD",
... )
PartInstance(
    isStandardContent=False,
    type=InstanceType.PART,
    id="M0Cyvy+yIq8Rd7En0",
    name="Part 1 <2>",
    suppressed=False,
    partId="JHD",
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class PartInstance(IDBase):
    """
    Represents an instance of a part within an assembly.

    JSON:
        ```json
            {
                "isStandardContent": false,
                "type": "Part",
                "id": "M0Cyvy+yIq8Rd7En0",
                "name": "Part 1 <2>",
                "suppressed": false,
                "partId": "JHD",
                "fullConfiguration": "default",
                "configuration": "default",
                "documentId": "a1c1addf75444f54b504f25c",
                "elementId": "0b0c209535554345432581fe",
                "documentMicroversion": "349f6413cafefe8fb4ab3b07"
            }
        ```

    Attributes:
        isStandardContent (bool): Indicates if the part is standard content.
        type (InstanceType): The type of the instance, must be 'Part'.
        id (str): The unique identifier for the part instance.
        name (str): The name of the part instance.
        suppressed (bool): Indicates if the part instance is suppressed.
        partId (str): The identifier for the part.

    Examples:
        >>> PartInstance(
        ...     isStandardContent=False,
        ...     type=InstanceType.PART,
        ...     id="M0Cyvy+yIq8Rd7En0",
        ...     name="Part 1 <2>",
        ...     suppressed=False,
        ...     partId="JHD",
        ... )
        PartInstance(
            isStandardContent=False,
            type=InstanceType.PART,
            id="M0Cyvy+yIq8Rd7En0",
            name="Part 1 <2>",
            suppressed=False,
            partId="JHD",
        )
    """

    isStandardContent: bool = Field(..., description="Indicates if the part is standard content.")
    type: InstanceType = Field(..., description="The type of the instance, must be 'Part'.")
    documentVersion: str = Field(None, description="The version of the document.")
    id: str = Field(..., description="The unique identifier for the part instance.")
    name: str = Field(..., description="The name of the part instance.")
    suppressed: bool = Field(..., description="Indicates if the part instance is suppressed.")
    partId: str = Field(..., description="The identifier for the part.")

    @field_validator("type")
    def check_type(cls, v: InstanceType) -> InstanceType:
        """
        Validates that the type is 'Part'.

        Args:
            v (InstanceType): The type to validate.

        Returns:
            InstanceType: The validated type.
        """
        if v != InstanceType.PART:
            raise ValueError("Type must be Part")

        return v

    @property
    def uid(self) -> str:
        """
        Generates a unique identifier for the part instance based on its attributes.

        Returns:
            str: The unique identifier for the part instance.
        """
        return generate_uid([
            self.documentId,
            self.documentMicroversion,
            self.elementId,
            self.partId,
            self.fullConfiguration,
        ])

uid: str property

Generates a unique identifier for the part instance based on its attributes.

Returns:

Name Type Description
str str

The unique identifier for the part instance.

check_type(v)

Validates that the type is 'Part'.

Parameters:

Name Type Description Default
v InstanceType

The type to validate.

 required

Returns:

Name Type Description
InstanceType InstanceType

The validated type.
Source code in onshape_robotics_toolkit\models\assembly.py 
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@field_validator("type")
def check_type(cls, v: InstanceType) -> InstanceType:
    """
    Validates that the type is 'Part'.

    Args:
        v (InstanceType): The type to validate.

    Returns:
        InstanceType: The validated type.
    """
    if v != InstanceType.PART:
        raise ValueError("Type must be Part")

    return v

PartMateConnector

Bases: BaseModel

Represents a mate connector within a part.

JSON 
    {
    "mateConnectorCS" : {
        "xAxis" : [ 1.0, 0.0, 0.0 ],
        "yAxis" : [ 0.0, 1.0, 0.0 ],
        "zAxis" : [ 0.0, 0.0, 1.0 ],
        "origin" : [ 0.0, 0.0, 0.024999999999999984 ]
    },
    "featureId" : "FuB5m1oLMD3WyJ1_1"
    }

Attributes:

Name Type Description
mateConnectorCS MatedCS

The coordinate system used for the mate connector.
featureId str

The unique identifier of the mate connector feature.

Examples:

>>> PartMateConnector(
...     mateConnectorCS=MatedCS(
...         xAxis=[1.0, 0.0, 0.0],
...         yAxis=[0.0, 1.0, 0.0],
...         zAxis=[0.0, 0.0, 1.0],
...         origin=[0.0, 0.0, 0.024999999999999984],
...     ),
...     featureId="FuB5m1oLMD3WyJ1_1",
... )
PartMateConnector(
    mateConnectorCS=MatedCS(
        xAxis=[1.0, 0.0, 0.0],
        yAxis=[0.0, 1.0, 0.0],
        zAxis=[0.0, 0.0, 1.0],
        origin=[0.0, 0.0, 0.024999999999999984]
    ),
    featureId="FuB5m1oLMD3WyJ1_1"
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class PartMateConnector(BaseModel):
    """
    Represents a mate connector within a part.

    JSON:
        ```json
            {
            "mateConnectorCS" : {
                "xAxis" : [ 1.0, 0.0, 0.0 ],
                "yAxis" : [ 0.0, 1.0, 0.0 ],
                "zAxis" : [ 0.0, 0.0, 1.0 ],
                "origin" : [ 0.0, 0.0, 0.024999999999999984 ]
            },
            "featureId" : "FuB5m1oLMD3WyJ1_1"
            }
        ```

    Attributes:
        mateConnectorCS (MatedCS): The coordinate system used for the mate connector.
        featureId (str): The unique identifier of the mate connector feature.

    Examples:
        >>> PartMateConnector(
        ...     mateConnectorCS=MatedCS(
        ...         xAxis=[1.0, 0.0, 0.0],
        ...         yAxis=[0.0, 1.0, 0.0],
        ...         zAxis=[0.0, 0.0, 1.0],
        ...         origin=[0.0, 0.0, 0.024999999999999984],
        ...     ),
        ...     featureId="FuB5m1oLMD3WyJ1_1",
        ... )
        PartMateConnector(
            mateConnectorCS=MatedCS(
                xAxis=[1.0, 0.0, 0.0],
                yAxis=[0.0, 1.0, 0.0],
                zAxis=[0.0, 0.0, 1.0],
                origin=[0.0, 0.0, 0.024999999999999984]
            ),
            featureId="FuB5m1oLMD3WyJ1_1"
        )
    """

    mateConnectorCS: "MatedCS" = Field(..., description="The coordinate system used for the mate connector.")
    featureId: str = Field(..., description="The unique identifier of the mate connector feature.")

Pattern

Bases: BaseModel

Represents a pattern feature within an assembly, defining repeated instances of parts or sub-assemblies.

Source code in onshape_robotics_toolkit\models\assembly.py 
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class Pattern(BaseModel):
    """
    Represents a pattern feature within an assembly, defining repeated instances of parts or sub-assemblies.
    """

    # TODO: Implement Pattern model
    pass

RelationType

Bases: str, Enum

Enumerates the type of mate relation between two parts or assemblies, e.g. LINEAR, GEAR, SCREW, etc.

Attributes:

Name Type Description
LINEAR str

Represents a linear relation.
GEAR str

Represents a gear relation.
SCREW str

Represents a screw relation.
RACK_AND_PINION str

Represents a rack and pinion relation.

Examples:

>>> RelationType.LINEAR
'LINEAR'
>>> RelationType.GEAR
'GEAR'
Source code in onshape_robotics_toolkit\models\assembly.py 
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class RelationType(str, Enum):
    """
    Enumerates the type of mate relation between two parts or assemblies, e.g. LINEAR, GEAR, SCREW, etc.

    Attributes:
        LINEAR (str): Represents a linear relation.
        GEAR (str): Represents a gear relation.
        SCREW (str): Represents a screw relation.
        RACK_AND_PINION (str): Represents a rack and pinion relation.

    Examples:
        >>> RelationType.LINEAR
        'LINEAR'
        >>> RelationType.GEAR
        'GEAR'
    """

    LINEAR = "LINEAR"
    GEAR = "GEAR"
    SCREW = "SCREW"
    RACK_AND_PINION = "RACK_AND_PINION"

RootAssembly

Bases: SubAssembly

Represents the root assembly, which is the top-level assembly containing all parts and sub-assemblies.

JSON 
    {
        "instances": [],
        "patterns": [],
        "features": [],
        "occurrences": [],
        "fullConfiguration": "default",
        "configuration": "default",
        "documentId": "a1c1addf75444f54b504f25c",
        "elementId": "0b0c209535554345432581fe",
        "documentMicroversion": "349f6413cafefe8fb4ab3b07"
    }

Attributes:

Name Type Description
instances list[Union[PartInstance, AssemblyInstance]]

A list of part and assembly instances in the root assembly.
patterns list[Pattern]

A list of patterns in the root assembly.
features list[AssemblyFeature]

A list of features in the root assembly.
occurrences list[Occurrence]

A list of occurrences in the root assembly.
fullConfiguration str

The full configuration of the root assembly.
configuration str

The configuration of the root assembly.
documentId str

The unique identifier of the document containing the root assembly.
elementId str

The unique identifier of the element containing the root assembly.
documentMicroversion str

The microversion of the document containing the root assembly.

Examples:

>>> RootAssembly(
...     instances=[...],
...     patterns=[...],
...     features=[...],
...     occurrences=[...],
...     fullConfiguration="default",
...     configuration="default",
...     documentId="a1c1addf75444f54b504f25c",
...     elementId="0b0c209535554345432581fe",
...     documentMicroversion="349f6413cafefe8fb4ab3b07",
... )
RootAssembly(
    instances=[...],
    patterns=[...],
    features=[...],
    occurrences=[...],
    fullConfiguration="default",
    configuration="default",
    documentId="a1c1addf75444f54b504f25c",
    elementId="0b0c209535554345432581fe",
    documentMicroversion="349f6413cafefe8fb4ab3b07"
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class RootAssembly(SubAssembly):
    """
    Represents the root assembly, which is the top-level assembly containing all parts and sub-assemblies.

    JSON:
        ```json
            {
                "instances": [],
                "patterns": [],
                "features": [],
                "occurrences": [],
                "fullConfiguration": "default",
                "configuration": "default",
                "documentId": "a1c1addf75444f54b504f25c",
                "elementId": "0b0c209535554345432581fe",
                "documentMicroversion": "349f6413cafefe8fb4ab3b07"
            }
        ```

    Attributes:
        instances (list[Union[PartInstance, AssemblyInstance]]):
            A list of part and assembly instances in the root assembly.
        patterns (list[Pattern]): A list of patterns in the root assembly.
        features (list[AssemblyFeature]): A list of features in the root assembly.
        occurrences (list[Occurrence]): A list of occurrences in the root assembly.
        fullConfiguration (str): The full configuration of the root assembly.
        configuration (str): The configuration of the root assembly.
        documentId (str): The unique identifier of the document containing the root assembly.
        elementId (str): The unique identifier of the element containing the root assembly.
        documentMicroversion (str): The microversion of the document containing the root assembly.

    Examples:
        >>> RootAssembly(
        ...     instances=[...],
        ...     patterns=[...],
        ...     features=[...],
        ...     occurrences=[...],
        ...     fullConfiguration="default",
        ...     configuration="default",
        ...     documentId="a1c1addf75444f54b504f25c",
        ...     elementId="0b0c209535554345432581fe",
        ...     documentMicroversion="349f6413cafefe8fb4ab3b07",
        ... )
        RootAssembly(
            instances=[...],
            patterns=[...],
            features=[...],
            occurrences=[...],
            fullConfiguration="default",
            configuration="default",
            documentId="a1c1addf75444f54b504f25c",
            elementId="0b0c209535554345432581fe",
            documentMicroversion="349f6413cafefe8fb4ab3b07"
        )
    """

    occurrences: list[Occurrence] = Field(..., description="A list of occurrences in the root assembly.")

    documentMetaData: Union[DocumentMetaData, None] = Field(
        None, description="The document associated with the assembly."
    )

SubAssembly

Bases: IDBase

Represents a sub-assembly within a root assembly.

JSON 
    {
        "instances": [],
        "patterns": [],
        "features": [],
        "fullConfiguration": "default",
        "configuration": "default",
        "documentId": "a1c1addf75444f54b504f25c",
        "elementId": "0b0c209535554345432581fe",
        "documentMicroversion": "349f6413cafefe8fb4ab3b07"
    }

Attributes:

Name Type Description
instances list[Union[PartInstance, AssemblyInstance]]

A list of part and assembly instances in the sub-assembly.
patterns list[Pattern]

A list of patterns in the sub-assembly.
features list[AssemblyFeature]

A list of features in the sub-assembly
fullConfiguration str

The full configuration of the sub-assembly.
configuration str

The configuration of the sub-assembly.
documentId str

The unique identifier of the document containing the sub-assembly.
elementId str

The unique identifier of the element containing the sub-assembly.
documentMicroversion str

The microversion of the document containing the sub-assembly.
Properties

uid (str): A unique identifier for the sub-assembly based on documentId, documentMicroversion, elementId, and fullConfiguration.

Examples:

>>> SubAssembly(
...     instances=[...],
...     patterns=[...],
...     features=[...],
...     fullConfiguration="default",
...     configuration="default",
...     documentId="a1c1addf75444f54b504f25c",
...     elementId="0b0c209535554345432581fe",
...     documentMicroversion="349f6413cafefe8fb4ab3b07",
... )
SubAssembly(
    instances=[...],
    patterns=[...],
    features=[...],
    fullConfiguration="default",
    configuration="default",
    documentId="a1c1addf75444f54b504f25c",
    elementId="0b0c209535554345432581fe",
    documentMicroversion="349f6413cafefe8fb4ab3b07"
)
Source code in onshape_robotics_toolkit\models\assembly.py 
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class SubAssembly(IDBase):
    """
    Represents a sub-assembly within a root assembly.

    JSON:
        ```json
            {
                "instances": [],
                "patterns": [],
                "features": [],
                "fullConfiguration": "default",
                "configuration": "default",
                "documentId": "a1c1addf75444f54b504f25c",
                "elementId": "0b0c209535554345432581fe",
                "documentMicroversion": "349f6413cafefe8fb4ab3b07"
            }
        ```

    Attributes:
        instances (list[Union[PartInstance, AssemblyInstance]]):
            A list of part and assembly instances in the sub-assembly.
        patterns (list[Pattern]): A list of patterns in the sub-assembly.
        features (list[AssemblyFeature]): A list of features in the sub-assembly
        fullConfiguration (str): The full configuration of the sub-assembly.
        configuration (str): The configuration of the sub-assembly.
        documentId (str): The unique identifier of the document containing the sub-assembly.
        elementId (str): The unique identifier of the element containing the sub-assembly.
        documentMicroversion (str): The microversion of the document containing the sub-assembly.

    Properties:
        uid (str): A unique identifier for the sub-assembly based on documentId, documentMicroversion, elementId, and
            fullConfiguration.

    Examples:
        >>> SubAssembly(
        ...     instances=[...],
        ...     patterns=[...],
        ...     features=[...],
        ...     fullConfiguration="default",
        ...     configuration="default",
        ...     documentId="a1c1addf75444f54b504f25c",
        ...     elementId="0b0c209535554345432581fe",
        ...     documentMicroversion="349f6413cafefe8fb4ab3b07",
        ... )
        SubAssembly(
            instances=[...],
            patterns=[...],
            features=[...],
            fullConfiguration="default",
            configuration="default",
            documentId="a1c1addf75444f54b504f25c",
            elementId="0b0c209535554345432581fe",
            documentMicroversion="349f6413cafefe8fb4ab3b07"
        )

    """

    instances: list[Union[PartInstance, AssemblyInstance]] = Field(
        ..., description="A list of part and assembly instances in the sub-assembly."
    )
    patterns: list[Pattern] = Field(..., description="A list of patterns in the sub-assembly.")
    features: list[AssemblyFeature] = Field(..., description="A list of features in the sub-assembly")

    MassProperty: Union[MassProperties, None] = Field(
        None, description="The mass properties of the sub-assembly, this is a retrieved via a separate API call."
    )

    @property
    def uid(self) -> str:
        """
        Generates a unique identifier for the sub-assembly with documentId, documentMicroversion, elementId, and
        fullConfiguration.

        Returns:
            str: The unique identifier for the sub-assembly.
        """
        return generate_uid([self.documentId, self.documentMicroversion, self.elementId, self.fullConfiguration])

uid: str property

Generates a unique identifier for the sub-assembly with documentId, documentMicroversion, elementId, and fullConfiguration.

Returns:

Name Type Description
str str

The unique identifier for the sub-assembly.