compas-dev · gonzalocasas · May 15, 2026 · May 12, 2026 · May 14, 2026 · May 14, 2026
diff --git a/.bumpversion.cfg b/.bumpversion.cfg
diff --git a/.editorconfig b/.editorconfig
@@ -17,11 +17,9 @@ end_of_line = crlf
 trim_trailing_whitespace = false
 
 [*.yml]
+indent_style = space
 indent_size = 2
 
-[*.rst]
-indent_size = 4
-
 [Makefile]
 indent_style = tab
 indent_size = 4

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -18,7 +18,7 @@ jobs:
         python: ['3.9', '3.10', '3.11', '3.12']
 
     steps:
-      - uses: compas-dev/compas-actions.build@v3
+      - uses: compas-dev/compas-actions.build@v4
         with:
           python: ${{ matrix.python }}
           invoke_lint: true

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
@@ -14,6 +14,9 @@ jobs:
   docs:
     runs-on: ubuntu-latest
     steps:
-      - uses: compas-dev/compas-actions.docs@v2
+      - uses: compas-dev/compas-actions.docs@v5
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
+          use_conda: false
+          generator: mkdocs
+          extras: dev
diff --git a/.github/workflows/pr-checks.yml b/.github/workflows/pr-checks.yml
@@ -11,7 +11,7 @@ jobs:
     name: Check Actions
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
       - name: Changelog check
         uses: Zomzog/changelog-checker@v1.2.0
         with:

diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
@@ -6,25 +6,27 @@ on:
       - 'v*'
 
 jobs:
-  build:
+  Build:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
         os: [ubuntu-latest, macos-latest, windows-latest]
-        python: ['3.9', '3.10', '3.11','3.12']
+        python: ['3.9', '3.10', '3.11', '3.12']
 
     steps:
-      - uses: compas-dev/compas-actions.build@v3
+      - uses: compas-dev/compas-actions.build@v4
         with:
           python: ${{ matrix.python }}
           invoke_lint: true
           invoke_test: true
 
   Publish:
-    needs: build
+    needs: Build
     runs-on: ubuntu-latest
     steps:
-      - uses: compas-dev/compas-actions.publish@v2
+      - uses: compas-dev/compas-actions.publish@v3
         with:
+          publish_to_pypi: true
           pypi_token: ${{ secrets.PYPI }}
           github_token: ${{ secrets.GITHUB_TOKEN }}
+          python: '3.10'
diff --git a/AUTHORS.md b/AUTHORS.md
@@ -1,3 +1,5 @@
 # Authors
 
 - Gonzalo Casas <<casas@arch.ethz.ch>> [@gonzalocasas](https://github.com/gonzalocasas)
+- Chen Kasirer <<ckasirer@ethz.ch>> [@chenkasirer](https://github.com/chenkasirer)
+- Victor Leung <<yck011522@gmail.com>> [@yck011522](https://github.com/yck011522)
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+* Added `compas_robots.model.JointType` enum exposing the supported URDF joint types, including `JointType.from_urdf(name)` and `JointType.urdf_name` for converting to/from URDF strings.
 * Added new functions to extract Visual and Collision meshes from `RobotModel`.
 * Added `RobotModel.get_link_visual_meshes` and `RobotModel.get_link_collision_meshes`
   for extracting meshes from a specific link.
@@ -17,6 +18,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+* Fixed several issues on Blender support for robot models and improved the handling of collections and objects in the Blender scene.
+* Migrated documentation to MkDocs and docstrings from reStructuredText to Markdown.
+* Migrated build configuration to `pyproject.toml` (removed `setup.py`, `setup.cfg`, `.bumpversion.cfg`).
+* Added PEP 484 type hints to all public APIs across `compas_robots`, moving type information from docstrings to function/method signatures.
+* Fixed docstring inaccuracies.
 * Fixed bug in `compas_viewer` due to import of `RobotModelObject` inside registration function.
 * Fixed a double transformation issue with `RobotModelObject` for `compas_viewer>=1.4.0`.
 
@@ -27,6 +33,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+* Added basic support for COLLADA / DAE files to the mesh loader.
+* Added a UR5e URDF model with COLLADA meshes including materials.
+
 ### Changed
 
 * Fixed no scene object registered for `RobotModel` in context `Rhino`.

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -12,7 +12,7 @@ In short, this is how that works.
 3. Install development dependencies:
 
    ```bash
-   pip install -r requirements-dev.txt
+   pip install -e .[dev]
    ```
 
 4. Make sure all tests pass:

diff --git a/LICENSE b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2023-2024 COMPAS Association
+Copyright (c) 2023-2026 COMPAS Association
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

diff --git a/MANIFEST.in b/MANIFEST.in
@@ -12,12 +12,13 @@ include README.md
 include AUTHORS.md
 include CHANGELOG.md
 include requirements.txt
+include requirements-dev.txt
 
 exclude compas_robots.jpg
-exclude requirements-dev.txt
-exclude pytest.ini .bumpversion.cfg .editorconfig
+exclude pytest.ini .editorconfig
 exclude tasks.py
 exclude CONTRIBUTING.md
 exclude conftest.py
+exclude mkdocs.yml
 
 global-exclude *.py[cod] __pycache__ *.dylib *.nb[ic] .DS_Store
diff --git a/README.md b/README.md
@@ -45,17 +45,13 @@ Code convention follows [PEP8](https://pep8.org/) style guidelines and line leng
 
 ### Documentation
 
-Documentation is generated automatically out of docstrings and [RST](https://www.sphinx-doc.org/en/master/usage/restructuredtext/basics.html) files in this repository
+Documentation is generated automatically out of docstrings and Markdown files in this repository using [MkDocs](https://www.mkdocs.org/) with the [Material](https://squidfunk.github.io/mkdocs-material/) theme and [mkdocstrings](https://mkdocstrings.github.io/).
 
 1. Generate the docs
 
         invoke docs
 
-2. Check links in docs are valid
-
-        invoke linkcheck
-
-3. Open docs in your browser (file explorer -> `dist/docs/index.html`)
+2. Open docs in your browser (file explorer -> `dist/docs/index.html`)
 
 
 ### Testing

diff --git a/docs/_logo/compas_logo_white_transparent.png b/docs/_logo/compas_logo_white_transparent.png
diff --git a/docs/_logo/favicon.ico b/docs/_logo/favicon.ico
diff --git a/docs/api.rst b/docs/api.rst
diff --git a/docs/api/compas_robots.blender.md b/docs/api/compas_robots.blender.md
@@ -0,0 +1 @@
+# ::: compas_robots.blender.scene
diff --git a/docs/api/compas_robots.files.md b/docs/api/compas_robots.files.md
@@ -0,0 +1 @@
+# ::: compas_robots.files
diff --git a/docs/api/compas_robots.ghpython.md b/docs/api/compas_robots.ghpython.md
@@ -0,0 +1 @@
+# ::: compas_robots.ghpython.scene
diff --git a/docs/api/compas_robots.md b/docs/api/compas_robots.md
@@ -0,0 +1 @@
+# ::: compas_robots
diff --git a/docs/api/compas_robots.model.md b/docs/api/compas_robots.model.md
@@ -0,0 +1 @@
+# ::: compas_robots.model
diff --git a/docs/api/compas_robots.model.rst b/docs/api/compas_robots.model.rst
diff --git a/docs/api/compas_robots.resources.md b/docs/api/compas_robots.resources.md
@@ -0,0 +1 @@
+# :::compas_robots.resources
diff --git a/docs/api/compas_robots.resources.rst b/docs/api/compas_robots.resources.rst
diff --git a/docs/api/compas_robots.rhino.md b/docs/api/compas_robots.rhino.md
@@ -0,0 +1 @@
+# ::: compas_robots.rhino.scene
diff --git a/docs/api/compas_robots.rst b/docs/api/compas_robots.rst
diff --git a/docs/api/compas_robots.scene.md b/docs/api/compas_robots.scene.md
@@ -0,0 +1 @@
+# ::: compas_robots.scene
diff --git a/docs/api/compas_robots.scene.rst b/docs/api/compas_robots.scene.rst
diff --git a/docs/api/compas_robots.viewer.md b/docs/api/compas_robots.viewer.md
@@ -0,0 +1 @@
+# ::: compas_robots.viewer.scene
diff --git a/docs/api/core/index.md b/docs/api/core/index.md
@@ -0,0 +1,13 @@
+# Core
+
+Platform-independent modules. These work everywhere `compas_robots` can be
+imported and form the foundation that the integrations build on top of.
+
+- **[compas_robots](../compas_robots.md)**: top-level package exports such as [Configuration][compas_robots.Configuration], [RobotModel][compas_robots.RobotModel], [ToolModel][compas_robots.ToolModel].
+- **[compas_robots.model](../compas_robots.model.md)**: the parts that make up a robot model: [Link][compas_robots.model.Link], [Joint][compas_robots.model.Joint], [LinkGeometry][compas_robots.model.LinkGeometry], [JointType][compas_robots.model.JointType], etc.
+- **[compas_robots.resources](../compas_robots.resources.md)**: loaders
+  that fetch externally referenced meshes (local files, packages, GitHub).
+- **[compas_robots.scene](../compas_robots.scene.md)**: scene-graph
+  objects for visualizing a [RobotModel][compas_robots.RobotModel]. The integration packages provide the host-specific implementations.
+- **[compas_robots.files](../compas_robots.files.md)**: URDF parsing and
+  serialization.
diff --git a/docs/api/index.md b/docs/api/index.md
@@ -0,0 +1,12 @@
+# API Reference
+
+The `compas_robots` API is split into two groups:
+
+- **[Core](core/index.md)**: the platform-independent modules for describing
+  robots, parsing URDF, loading resources and building scene graphs.
+  Use these regardless of where your code runs.
+- **[Integrations](integrations/index.md)**: CAD and viewer-specific bindings
+  for Blender, Rhino, Grasshopper and the COMPAS viewer. These depend on the
+  host environment and are only imported when running inside it.
+
+If you are getting started, head to **Core** first.