Debug brepjs assembly constraint solver failures and extend joint and kinematics subsystems.
npx skills add https://github.com/andymai/brepjs --skill assembly-solver
Please help me install this Agent Skill. Skill: assembly-solver Source: https://github.com/andymai/brepjs/tree/main/.claude/skills/assembly-solver Command: npx skills add https://github.com/andymai/brepjs --skill assembly-solver
This Skill eliminates the frustration of debugging failed brepjs assembly constraint solves, extending the assembly and kinematics subsystems, and working with mechanism interchange formats, removing guesswork from parametric CAD assembly workflows.
Use the assembly-solver skill to debug a brepjs assembly solve that returns ASSEMBLY_NOT_CONVERGED by first checking for unanchored dependent nodes and unsupported entity pair combinations in your mate definitions.
High-intent search queries and answers about installing and using this skill.
An assembly constraint solve fails with ASSEMBLY_NOT_CONVERGED when your mate definitions contain unanchored dependent nodes or unsupported entity pair combinations. You can fix this by checking your mate definitions for invalid geometry and ensuring all dependent nodes are properly anchored.
To add a custom revolute joint to a brepjs assembly, you extend the kinematics subsystem with the new joint type while maintaining correct guardrails to avoid invariant drift. This enables forward and inverse kinematic joint driving for mechanism design.
You can export a parametric CAD assembly to URDF by applying DH parameter processing to serial joint chains. This workflow enables mechanism interchange, allowing you to import and export robotic assemblies for motion simulation.
ASSEMBLY_MATE_INVALID errors occur when your mate definitions reference invalid geometry or unsupported entity pairs. Identifying the root cause requires diagnosing the specific mate definitions to verify that all entity pairs are supported by the brepjs solver.
You compute forward and inverse kinematics for a serial joint chain by processing DH parameters to define the joint transforms. This approach provides analytical closed-form constraint solving for driving kinematic joints in parametric CAD workflows.
brepjs supports exporting positioned assemblies to STEP files for manufacturable geometry use cases. This requires a successfully converged assembly constraint solve to ensure the exported geometry maintains the correct positioned assembly state.
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