vcad-assembly

name	vcad-assembly
description	Build multi-part assemblies with joints and run physics simulations. Use when the user asks about robot arms, mechanisms, hinges, joints, physics simulation, reinforcement learning environments, or assembly of multiple parts.

vcad Assembly & Physics Simulation

Create assemblies from parts, connect them with joints, and run physics simulations via the vcad MCP tools.

Assembly Structure

An assembly is defined inside create_cad_document alongside the parts:

{
  "parts": [...],
  "assembly": {
    "instances": [...],
    "joints": [...],
    "ground": "base-1"
  }
}

Instances

Each instance places a part in the assembly:

{
  "id": "arm-1",
  "part": "arm",
  "name": "Lower Arm",
  "position": {"x": 0, "y": 0, "z": 50},
  "rotation": {"x": 0, "y": 0, "z": 0}
}

• id — unique identifier (referenced by joints)
• part — name of a part in the parts array
• position — initial position in mm (optional)
• rotation — initial rotation in degrees (optional)

Joints

Joints connect two instances and define degrees of freedom:

{
  "id": "shoulder",
  "name": "Shoulder Joint",
  "parent": "base-1",
  "child": "arm-1",
  "type": "revolute",
  "axis": "y",
  "parent_anchor": {"x": 0, "y": 0, "z": 50},
  "child_anchor": {"x": 0, "y": 0, "z": 0},
  "limits": [-90, 90],
  "state": 0
}

• parent — instance ID, or null for world/ground
• child — instance ID
• type — joint type (see below)
• axis — "x", "y", "z", or custom {x, y, z} vector
• parent_anchor / child_anchor — connection points in local coordinates
• limits — [min, max] (degrees for revolute, mm for slider)
• state — initial angle or position

Ground

Set "ground" to the instance ID of the fixed/base part. This anchors the kinematic chain.

Joint Types

Type	DOF	Description	State Unit
fixed	0	Rigid attachment, no motion	n/a
revolute	1	Rotation around axis (hinge)	degrees
slider	1	Translation along axis (piston)	mm
cylindrical	2	Rotation + translation on same axis	degrees
ball	3	Omnidirectional rotation	n/a

Physics Simulation Tools

The gym-style tools simulate assembly dynamics using phyz:

Tool	Purpose
create_robot_env	Initialize simulation from assembly document
gym_reset	Reset to initial state, returns observation
gym_step	Apply action, advance physics, returns observation + reward + done
gym_observe	Get current state without stepping
gym_close	Clean up simulation

Simulation Workflow

create_cad_document (with assembly)
  → create_robot_env (document, end_effector_ids)
    → gym_reset (env_id)
      → gym_step (env_id, action_type, values) [loop]
        → gym_close (env_id)

create_robot_env

{
  "document": "<IR document from create_cad_document>",
  "end_effector_ids": ["gripper-1"],
  "dt": 0.004167,
  "substeps": 4,
  "max_steps": 1000
}

Returns: env_id, num_joints, action_dim, observation_dim.

gym_step

{
  "env_id": "sim_1",
  "action_type": "torque",
  "values": [0.5, -0.3]
}

Action types:

• "torque" — apply torque in Nm to each joint
• "position" — set target position (degrees for revolute, mm for slider)
• "velocity" — set target velocity (deg/s or mm/s)

The values array must have one entry per joint.

Returns:

• observation — joint positions, velocities, end effector poses
• reward — scalar reward signal
• done — true if episode ended (max steps or termination)

gym_reset / gym_observe

Both return the observation object:

{
  "joint_positions": [0.0, 0.0],
  "joint_velocities": [0.0, 0.0],
  "end_effector_poses": [
    {"position": {"x": 0, "y": 0, "z": 100}, "orientation": {"x": 0, "y": 0, "z": 0, "w": 1}}
  ]
}

Complete Example: 2-DOF Robot Arm

{
  "parts": [
    {
      "name": "base",
      "primitive": {"type": "cylinder", "radius": 25, "height": 10},
      "material": "steel"
    },
    {
      "name": "arm",
      "primitive": {"type": "cube", "size": {"x": 10, "y": 10, "z": 80}},
      "material": "aluminum"
    }
  ],
  "assembly": {
    "instances": [
      {"id": "base-1", "part": "base"},
      {"id": "lower-arm", "part": "arm", "position": {"x": 0, "y": 0, "z": 10}},
      {"id": "upper-arm", "part": "arm", "position": {"x": 0, "y": 0, "z": 90}}
    ],
    "joints": [
      {
        "id": "shoulder",
        "parent": "base-1",
        "child": "lower-arm",
        "type": "revolute",
        "axis": "y",
        "parent_anchor": {"x": 0, "y": 0, "z": 10},
        "child_anchor": {"x": 5, "y": 5, "z": 0},
        "limits": [-90, 90]
      },
      {
        "id": "elbow",
        "parent": "lower-arm",
        "child": "upper-arm",
        "type": "revolute",
        "axis": "y",
        "parent_anchor": {"x": 5, "y": 5, "z": 80},
        "child_anchor": {"x": 5, "y": 5, "z": 0},
        "limits": [0, 135]
      }
    ],
    "ground": "base-1"
  }
}

After creating the document, run a simulation:

1. create_robot_env with end_effector_ids: ["upper-arm"]
2. gym_reset to get initial observation
3. gym_step with action_type: "torque" and values per joint
4. Repeat step 3 for your control loop
5. gym_close when done

Tips

• Every assembly needs a ground instance — this is the fixed reference
• Joint anchors are in the instance's local coordinate frame
• Revolute limits are in degrees, slider limits in mm
• State outside limits is clamped automatically
• Use position action type for precise pose control, torque for dynamic simulation
• end_effector_ids must reference valid instance IDs in the assembly
• Forward kinematics propagates transforms from ground through the joint chain