Minor changes to helpers and root node transformation.

onshape_api/connect.py

@@ -712,11 +712,7 @@ def download_part_stl(
         # TODO: version id seems to always work, should this default behavior be changed?
         req_headers = {"Accept": "application/vnd.onshape.v1+octet-stream"}
         request_path = f"/api/parts/d/{did}/{wtype}/{wid}/e/{eid}/partid/{partID}/stl"
-        _query = {
-            "mode": "binary",
-            "grouping": True,
-            "units": "meter",
-        }
+        _query = {"mode": "binary", "grouping": True, "units": "meter", "resolution": "coarse"}
         response = self.request(
             HTTP.GET,
             path=request_path,

onshape_api/mesh.py

@@ -42,9 +42,7 @@ def transform_mesh(mesh: Mesh, transform: np.ndarray) -> Mesh:
         >>> transform_mesh(mesh, transform)
     """
 
-    _transform_vectors = partial(
-        transform_vectors, rotation=transform[:3, :3], translation=transform[0:3, 3:4].T.tolist()
-    )
+    _transform_vectors = partial(transform_vectors, rotation=transform[:3, :3], translation=transform[:3, 3].T.tolist())
 
     mesh.v0 = _transform_vectors(mesh.v0)
     mesh.v1 = _transform_vectors(mesh.v1)

onshape_api/urdf.py

@@ -17,6 +17,7 @@
     MateFeatureData,
     MateRelationFeatureData,
     MateType,
+    Occurrence,
     Part,
     RelationType,
 )
@@ -57,6 +58,7 @@ def get_joint_name(mate_id: str, mates: dict[str, MateFeatureData]) -> str:
 def get_robot_link(
     name: str,
     part: Part,
+    occurrence: Occurrence,
     wid: str,
     client: Client,
     mate: Optional[Union[MateFeatureData, None]] = None,
@@ -89,6 +91,9 @@ def get_robot_link(
     _link_to_stl_tf = np.eye(4)
 
     if mate is None:
+        # TODO: this is the root link and we want it to respect the assembly orientation
+        _assembly_to_link_tf = np.matrix(occurrence.transform).reshape(4, 4)
+        _link_to_stl_tf[:3, :3] = _assembly_to_link_tf[:3, :3]
         _link_to_stl_tf[:3, 3] = np.array(part.MassProperty.center_of_mass).reshape(3)
     elif mate.matedEntities[CHILD].parentCS:
         _link_to_stl_tf = mate.matedEntities[CHILD].parentCS.part_tf @ mate.matedEntities[CHILD].matedCS.part_to_mate_tf
@@ -373,6 +378,7 @@ def get_urdf_components(
     assembly: Assembly,
     graph: DiGraph,
     root_node: str,
+    occurrences: dict[str, Occurrence],
     parts: dict[str, Part],
     mates: dict[str, MateFeatureData],
     relations: dict[str, MateRelationFeatureData],
@@ -422,7 +428,12 @@ def get_urdf_components(
     LOGGER.info(f"Processing root node: {root_node}")
 
     root_link, stl_to_root_tf, _asset = get_robot_link(
-        name=root_node, part=parts[root_node], wid=assembly.document.wid, client=client, mate=None
+        name=root_node,
+        part=parts[root_node],
+        occurrence=occurrences[root_node],
+        wid=assembly.document.wid,
+        client=client,
+        mate=None,
     )
 
     links.append(root_link)
@@ -476,6 +487,7 @@ def get_urdf_components(
         link, stl_to_link_tf, asset = get_robot_link(
             child,
             parts[child],
+            occurrences[child],
             assembly.document.wid,
             client,
             topological_mates[mate_key],

onshape_api/utilities/helpers.py

@@ -270,7 +270,7 @@ def get_sanitized_name(name: str, replace_with: str = "-") -> str:
     """
     Sanitize a name by removing special characters, preserving "-" and "_", and
     replacing spaces with a specified character. Ensures no consecutive replacement
-    characters in the result.
+    characters in the result. Also removes patterns like '<3>' or '<n>' entirely.
 
     Args:
         name: Name to sanitize
@@ -281,7 +281,7 @@ def get_sanitized_name(name: str, replace_with: str = "-") -> str:
 
     Examples:
         >>> get_sanitized_name("wheel1 <3>", '-')
-        "wheel1-3"
+        "wheel1"
         >>> get_sanitized_name("Hello  World!", '_')
         "Hello_World"
         >>> get_sanitized_name("my--robot!!", '-')
@@ -293,6 +293,10 @@ def get_sanitized_name(name: str, replace_with: str = "-") -> str:
     if replace_with not in "-_":
         raise ValueError("replace_with must be either '-' or '_'")
 
+    # Remove patterns like <3> or <n> where n is a number
+    name = re.sub(r" <\d+>", "", name)
+
+    # Remove unwanted characters and sanitize
     sanitized_name = "".join(char if char.isalnum() or char in "-_ " else "" for char in name)
     sanitized_name = sanitized_name.replace(" ", replace_with)
     sanitized_name = re.sub(f"{re.escape(replace_with)}{{2,}}", replace_with, sanitized_name)