From f8792542401f5020809813c6d531f92d9d6aced4 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 17 Aug 2020 17:39:03 +0200
Subject: [PATCH 01/70] Initial version of the assembly API

---
 cadquery/assembly.py | 95 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 95 insertions(+)
 create mode 100644 cadquery/assembly.py

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
new file mode 100644
index 000000000..1d437def4
--- /dev/null
+++ b/cadquery/assembly.py
@@ -0,0 +1,95 @@
+from typing import Union, Optional, List, Mapping, Any, overload, Tuple
+from typing_extensions import Literal
+from uuid import uuid1 as uuid
+
+from .cq import Workplane
+from .occ_impl.shapes import Shape
+from .occ_impl.geom import Location
+
+
+AssemblyObjects = Union[Shape, Workplane, None]
+ConstraintKinds = Literal["Plane", "Point", "Axis"]
+
+
+class Constraint(object):
+
+    args: Tuple[Shape, ...]
+    kind: ConstraintKinds
+
+
+class Assembly(object):
+
+    loc: Location
+    name: str
+    metadata: Mapping[str, Any]
+
+    obj: AssemblyObjects
+    parent: Optional["Assembly"]
+    children: List["Assembly"]
+
+    objects: Mapping[str, AssemblyObjects]
+    constraints: List[Constraint]
+
+    def __init__(
+        self,
+        obj: AssemblyObjects,
+        loc: Optional[Location] = None,
+        name: Optional[str] = None,
+    ):
+
+        self.obj = obj
+        self.loc = loc if loc else Location()
+        self.name = name if name else str(uuid())
+
+        self.objects = {self.name: self.obj}
+
+    @overload
+    def add(self, obj: "Assembly"):
+        ...
+
+    @overload
+    def add(
+        self,
+        obj: AssemblyObjects,
+        loc: Optional[Location] = None,
+        name: Optional[str] = None,
+    ):
+        ...
+
+    def add(self, arg, **kwargs):
+
+        if isinstance(arg, Assembly):
+            self.children.append(arg)
+            self.objects[arg.name] = arg.obj
+            self.objects.update(arg.objects)
+
+        else:
+            self.add(Assembly(arg, **kwargs))
+
+    @overload
+    def constrain(self, query: str):
+        ...
+
+    @overload
+    def constrain(self, q1: str, q2: str, kind: ConstraintKinds):
+        ...
+
+    @overload
+    def constrain(self, s1: Shape, s2: Shape, kind: ConstraintKinds):
+        ...
+
+    def constrain(self, *args):
+
+        raise NotImplementedError
+
+    def solve(self):
+
+        raise NotImplementedError
+
+    def save(self, path: str):
+
+        raise NotImplementedError
+
+    def load(self, path: str):
+
+        raise NotImplementedError

From f08d9adc6af06f9458309087ad18a97c5488b770 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Tue, 18 Aug 2020 17:24:34 +0200
Subject: [PATCH 02/70] Added dummy solver class

---
 cadquery/occ_impl/solver.py | 48 +++++++++++++++++++++++++++++++++++++
 1 file changed, 48 insertions(+)
 create mode 100644 cadquery/occ_impl/solver.py

diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
new file mode 100644
index 000000000..5a161bf0d
--- /dev/null
+++ b/cadquery/occ_impl/solver.py
@@ -0,0 +1,48 @@
+from typing import Tuple, Mapping, Union, Any, Callable, List
+from nptyping import NDArray as Array
+
+from numpy import zeros, array
+from scipy.optimize import least_squares
+
+from OCP.gp import gp_Dir, gp_Pnt
+
+from .geom import Location
+
+DOF6 = Tuple[float, float, float, float, float, float]
+ConstraintMarker = Union[gp_Dir, gp_Pnt]
+
+
+class ConstraintSolver(object):
+
+    entities: Mapping[int, DOF6]
+    constraints: Mapping[
+        Tuple[int, int],
+        Tuple[Tuple[ConstraintMarker, ...], Tuple[ConstraintMarker, ...]],
+    ]
+
+    def _jacobianSparsity(self) -> Array[(Any, Any), float]:
+
+        rv = zeros((len(self.constraints), 6 * len(self.entities)))
+
+        for i, (k1, k2) in enumerate(self.constraints):
+            rv[i, 6 * k1 : 6 * (k1 + 1)] = 1
+            rv[i, 6 * k2 : 6 * (k2 + 1)] = 1
+
+        return rv
+
+    def _cost(self) -> Callable[[Array[(Any,), float]], Array[(Any,), float]]:
+        def f(x):
+
+            rv = zeros(len(self.constraints))
+
+            return rv
+
+        return f
+
+    def solve(self) -> List[Location]:
+
+        x0 = array([el for el in self.entities.values()]).ravel()
+
+        res = least_squares(self._cost(), x0, jac_sparsity=self._jacobianSparsity())
+
+        return res.x

From 16c3d28c7dea748a9310469db28d56ddcc153212 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 19 Aug 2020 16:38:57 +0200
Subject: [PATCH 03/70] Implemented cost function

---
 cadquery/occ_impl/solver.py | 47 +++++++++++++++++++++++++++++++++----
 1 file changed, 43 insertions(+), 4 deletions(-)

diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
index 5a161bf0d..62621666e 100644
--- a/cadquery/occ_impl/solver.py
+++ b/cadquery/occ_impl/solver.py
@@ -4,7 +4,7 @@
 from numpy import zeros, array
 from scipy.optimize import least_squares
 
-from OCP.gp import gp_Dir, gp_Pnt
+from OCP.gp import gp_Vec, gp_Dir, gp_Pnt, gp_Trsf, gp_Quaternion
 
 from .geom import Location
 
@@ -19,10 +19,12 @@ class ConstraintSolver(object):
         Tuple[int, int],
         Tuple[Tuple[ConstraintMarker, ...], Tuple[ConstraintMarker, ...]],
     ]
+    ne: int
+    nc: int
 
     def _jacobianSparsity(self) -> Array[(Any, Any), float]:
 
-        rv = zeros((len(self.constraints), 6 * len(self.entities)))
+        rv = zeros((self.nc, 6 * self.ne))
 
         for i, (k1, k2) in enumerate(self.constraints):
             rv[i, 6 * k1 : 6 * (k1 + 1)] = 1
@@ -30,10 +32,43 @@ def _jacobianSparsity(self) -> Array[(Any, Any), float]:
 
         return rv
 
+    def _build_transform(
+        self, x: float, y: float, z: float, a: float, b: float, c: float
+    ) -> gp_Trsf:
+
+        rv = gp_Trsf()
+        m = a ** 2 + b ** 2 + c ** 2
+
+        rv.SetTranslation(gp_Vec(x, y, z))
+        rv.SetRotation(
+            gp_Quaternion(2 * a / m, 2 * b / m, 2 * c / m, (1 - m) / (m + 1))
+        )
+
+        return rv
+
     def _cost(self) -> Callable[[Array[(Any,), float]], Array[(Any,), float]]:
         def f(x):
 
-            rv = zeros(len(self.constraints))
+            constraints = self.constraints
+            nc = self.nc
+            ne = self.ne
+
+            rv = zeros(nc)
+            transforms = [
+                self._build_transform(*x[6 * i : 6 * (i + 1)]) for i in range(ne)
+            ]
+
+            for i, ((k1, k2), ms1, ms2) in enumerate(constraints.items()):
+                t1 = transforms[k1]
+                t2 = transforms[k2]
+
+                for m1, m2 in zip(ms1, ms2):
+                    if isinstance(m1, gp_Pnt):
+                        rv[i] += (m1.Transformed(t1) - m2.Transformed(t2)).Magnitude()
+                    elif isinstance(m1, gp_Dir):
+                        rv[i] += m1.Transformed(t1) * m2.Transformed(t2)
+                    else:
+                        raise NotImplementedError
 
             return rv
 
@@ -44,5 +79,9 @@ def solve(self) -> List[Location]:
         x0 = array([el for el in self.entities.values()]).ravel()
 
         res = least_squares(self._cost(), x0, jac_sparsity=self._jacobianSparsity())
+        x = res.x
 
-        return res.x
+        return [
+            Location(self._build_transform(*x[6 * i : 6 * (i + 1)]))
+            for i in range(self.ne)
+        ]

From 6f5ed87804ef2e9f56b86515e8344139ea6f7902 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 19 Aug 2020 17:38:57 +0200
Subject: [PATCH 04/70] Add objects to the Constraint type

---
 cadquery/assembly.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 1d437def4..5f95857c3 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -13,6 +13,7 @@
 
 class Constraint(object):
 
+    objects: Tuple[Shape, ...]
     args: Tuple[Shape, ...]
     kind: ConstraintKinds
 

From 1efbef755a2e15c0ecd173e6b9f109aed0b413ca Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 19 Aug 2020 17:39:34 +0200
Subject: [PATCH 05/70] Dummy __init__

---
 cadquery/occ_impl/solver.py | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
index 62621666e..b99d08d9a 100644
--- a/cadquery/occ_impl/solver.py
+++ b/cadquery/occ_impl/solver.py
@@ -10,18 +10,24 @@
 
 DOF6 = Tuple[float, float, float, float, float, float]
 ConstraintMarker = Union[gp_Dir, gp_Pnt]
+Constraint = Tuple[Tuple[ConstraintMarker, ...], Tuple[ConstraintMarker, ...]]
 
 
 class ConstraintSolver(object):
 
     entities: Mapping[int, DOF6]
-    constraints: Mapping[
-        Tuple[int, int],
-        Tuple[Tuple[ConstraintMarker, ...], Tuple[ConstraintMarker, ...]],
-    ]
+    constraints: Mapping[Tuple[int, int], Constraint]
     ne: int
     nc: int
 
+    def __init__(
+        self,
+        entities: List[Location],
+        constraints: Mapping[Tuple[int, int], Constraint],
+    ):
+
+        pass
+
     def _jacobianSparsity(self) -> Array[(Any, Any), float]:
 
         rv = zeros((self.nc, 6 * self.ne))

From 39e247a856efa4c1158fd8539942024f3c044ef0 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 24 Aug 2020 20:05:27 +0200
Subject: [PATCH 06/70] Started implementing assy export

---
 cadquery/assembly.py                    | 16 +++++-
 cadquery/occ_impl/exporters/assembly.py | 69 +++++++++++++++++++++++++
 2 files changed, 84 insertions(+), 1 deletion(-)
 create mode 100644 cadquery/occ_impl/exporters/assembly.py

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 5f95857c3..e2fd25b9d 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -76,7 +76,9 @@ def constrain(self, q1: str, q2: str, kind: ConstraintKinds):
         ...
 
     @overload
-    def constrain(self, s1: Shape, s2: Shape, kind: ConstraintKinds):
+    def constrain(
+        self, id1: str, s1: Shape, id2: str, s2: Shape, kind: ConstraintKinds
+    ):
         ...
 
     def constrain(self, *args):
@@ -94,3 +96,15 @@ def save(self, path: str):
     def load(self, path: str):
 
         raise NotImplementedError
+
+    @property
+    def shapes(self) -> List[Shape]:
+
+        rv: List[Shape] = []
+
+        if isinstance(self.obj, Shape):
+            rv = [self.obj]
+        elif isinstance(self.obj, Workplane):
+            rv = [el for el in self.obj.vals() if isinstance(el, Shape)]
+
+        return rv
diff --git a/cadquery/occ_impl/exporters/assembly.py b/cadquery/occ_impl/exporters/assembly.py
new file mode 100644
index 000000000..c6fe2b74f
--- /dev/null
+++ b/cadquery/occ_impl/exporters/assembly.py
@@ -0,0 +1,69 @@
+from typing import Iterable
+from typing_extensions import Protocol
+
+from OCP.TDocStd import TDocStd_Document
+from OCP.TCollection import TCollection_ExtendedString
+from OCP.XCAFDoc import XCAFDoc_DocumentTool
+from OCP.TDataStd import TDataStd_Name
+from OCP.XSControl import XSControl_WorkSession
+from OCP.STEPCAFControl import STEPCAFControl_Writer
+from OCP.STEPControl import STEPControl_StepModelType
+from OCP.IFSelect import IFSelect_ReturnStatus
+
+from ..geom import Location
+from ..shapes import Shape, Compound
+
+
+class AssemblyProtocol(Protocol):
+    @property
+    def loc(self) -> Location:
+        ...
+
+    @property
+    def name(self) -> str:
+        ...
+
+    @property
+    def shapes(self) -> Iterable[Shape]:
+        ...
+
+    @property
+    def children(self) -> Iterable["AssemblyProtocol"]:
+        ...
+
+
+def exportAssembly(assy: AssemblyProtocol, path) -> bool:
+
+    # prepare a doc
+    doc = TDocStd_Document(TCollection_ExtendedString("CQ assy"))
+    tool = XCAFDoc_DocumentTool.ShapeTool_s(doc.Main())
+
+    # add root
+    root = tool.NewShape()
+    TDataStd_Name.Set_s(root, TCollection_ExtendedString(assy.name))
+
+    if assy.shapes:
+        tool.SetShape(root, Compound.makeCompound(assy.shapes).moved(assy.loc).wrapped)
+
+    def processChildren(parent, children):
+
+        for ch in children:
+            ch_node = tool.AddComponent(
+                parent, Compound.makeCompound(ch.shapes).moved(ch.loc).wrapped
+            )
+            TDataStd_Name.Set_s(ch_node, TCollection_ExtendedString(ch.name))
+
+            if ch.children:
+                processChildren(ch_node, ch.children)
+
+    processChildren(root, assy.children)
+
+    tool.UpdateAssemblies()
+
+    session = XSControl_WorkSession()
+    writer = STEPCAFControl_Writer(session, False)
+    writer.Transfer(doc, STEPControl_StepModelType.STEPControl_AsIs)
+
+    status = writer.Write(path)
+
+    return status == IFSelect_ReturnStatus.IFSelect_RetDone

From 458c1eadc7f23c18011e0ef9e81527f0b0090cae Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 24 Aug 2020 20:08:46 +0200
Subject: [PATCH 07/70] Ignore missing scipy stubs

---
 mypy.ini | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/mypy.ini b/mypy.ini
index ef5416ed8..7c1e97af9 100644
--- a/mypy.ini
+++ b/mypy.ini
@@ -1,5 +1,5 @@
 [mypy]
-ignore_missing_imports = False 
+ignore_missing_imports = False
 
 [mypy-ezdxf.*]
 ignore_missing_imports = True
@@ -9,3 +9,6 @@ ignore_missing_imports = True
 
 [mypy-IPython.*]
 ignore_missing_imports = True
+
+[mypy-scipy.*]
+ignore_missing_imports = True
\ No newline at end of file

From d4f443d9c6ce68a7b279d1bf4bd1acc88aa23ac1 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 24 Aug 2020 21:23:42 +0200
Subject: [PATCH 08/70] Another Location constructor overload

---
 cadquery/occ_impl/geom.py | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/cadquery/occ_impl/geom.py b/cadquery/occ_impl/geom.py
index 53958ce7f..e3c335a8b 100644
--- a/cadquery/occ_impl/geom.py
+++ b/cadquery/occ_impl/geom.py
@@ -862,7 +862,7 @@ def isInside(self, b2: "BoundBox") -> bool:
 
 class Location(object):
     """Location in 3D space. Depending on usage can be absolute or relative.
-    
+
     This class wraps the TopLoc_Location class from OCCT. It can be used to move Shape
     objects in both relative and absolute manner. It is the preferred type to locate objects
     in CQ.
@@ -895,6 +895,11 @@ def __init__(self, t: TopLoc_Location) -> None:
         """Location wrapping the low-level TopLoc_Location object t"""
         ...
 
+    @overload
+    def __init__(self, t: gp_Trsf) -> None:
+        """Location wrapping the low-level gp_Trsf object t"""
+        ...
+
     @overload
     def __init__(self, t: Vector, ax: Vector, angle: float) -> None:
         """Location with translation t and rotation around ax by angle
@@ -919,6 +924,8 @@ def __init__(self, *args):
             elif isinstance(t, TopLoc_Location):
                 self.wrapped = t
                 return
+            elif isinstance(t, gp_Trsf):
+                T = t
         elif len(args) == 2:
             t, v = args
             cs = gp_Ax3(v.toPnt(), t.zDir.toDir(), t.xDir.toDir())

From ba55fd1e29d31dffb77c47898fc85951a74964c6 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 24 Aug 2020 21:51:17 +0200
Subject: [PATCH 09/70] Disable mypy check for numpy and nptyping

---
 mypy.ini | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/mypy.ini b/mypy.ini
index 7c1e97af9..e6ede69d8 100644
--- a/mypy.ini
+++ b/mypy.ini
@@ -11,4 +11,10 @@ ignore_missing_imports = True
 ignore_missing_imports = True
 
 [mypy-scipy.*]
+ignore_missing_imports = True
+
+[mypy-numpy.*]
+ignore_missing_imports = True
+
+[mypy-nptyping.*]
 ignore_missing_imports = True
\ No newline at end of file

From 07e0de9f73df2741d55fead7e091d75db84cdfc6 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 26 Aug 2020 22:52:39 +0200
Subject: [PATCH 10/70] Initialize children

---
 cadquery/assembly.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index e2fd25b9d..c2da64cc5 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -42,6 +42,7 @@ def __init__(
         self.loc = loc if loc else Location()
         self.name = name if name else str(uuid())
 
+        self.children = []
         self.objects = {self.name: self.obj}
 
     @overload

From 52097fcee34e43a21312f4dc139644d760c28e86 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 26 Aug 2020 22:55:46 +0200
Subject: [PATCH 11/70] Reworked exportAssembly

---
 cadquery/occ_impl/exporters/assembly.py | 18 +++++++++++++-----
 1 file changed, 13 insertions(+), 5 deletions(-)

diff --git a/cadquery/occ_impl/exporters/assembly.py b/cadquery/occ_impl/exporters/assembly.py
index c6fe2b74f..17665ce65 100644
--- a/cadquery/occ_impl/exporters/assembly.py
+++ b/cadquery/occ_impl/exporters/assembly.py
@@ -9,6 +9,7 @@
 from OCP.STEPCAFControl import STEPCAFControl_Writer
 from OCP.STEPControl import STEPControl_StepModelType
 from OCP.IFSelect import IFSelect_ReturnStatus
+from OCP.TDF import TDF_Label
 
 from ..geom import Location
 from ..shapes import Shape, Compound
@@ -39,18 +40,24 @@ def exportAssembly(assy: AssemblyProtocol, path) -> bool:
     tool = XCAFDoc_DocumentTool.ShapeTool_s(doc.Main())
 
     # add root
-    root = tool.NewShape()
-    TDataStd_Name.Set_s(root, TCollection_ExtendedString(assy.name))
+    top = tool.NewShape()
 
-    if assy.shapes:
-        tool.SetShape(root, Compound.makeCompound(assy.shapes).moved(assy.loc).wrapped)
+    root = tool.AddComponent(
+        top, Compound.makeCompound(assy.shapes).moved(assy.loc).wrapped, True
+    )
+    TDataStd_Name.Set_s(root, TCollection_ExtendedString(assy.name))
 
     def processChildren(parent, children):
 
+        if tool.IsReference_s(parent):
+            parent_ref, parent = parent, TDF_Label()
+            tool.GetReferredShape_s(parent_ref, parent)
+
         for ch in children:
             ch_node = tool.AddComponent(
-                parent, Compound.makeCompound(ch.shapes).moved(ch.loc).wrapped
+                parent, Compound.makeCompound(ch.shapes).moved(ch.loc).wrapped, True
             )
+            tool.UpdateAssemblies()
             TDataStd_Name.Set_s(ch_node, TCollection_ExtendedString(ch.name))
 
             if ch.children:
@@ -62,6 +69,7 @@ def processChildren(parent, children):
 
     session = XSControl_WorkSession()
     writer = STEPCAFControl_Writer(session, False)
+    writer.SetNameMode(True)
     writer.Transfer(doc, STEPControl_StepModelType.STEPControl_AsIs)
 
     status = writer.Write(path)

From 0c19653af1fc0b7524d441cb4958b0fe6ddbc3cf Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 31 Aug 2020 15:31:21 +0200
Subject: [PATCH 12/70] Reorganized assemblies

---
 cadquery/__init__.py                    |  4 +-
 cadquery/occ_impl/assembly.py           | 67 +++++++++++++++++++++++++
 cadquery/occ_impl/exporters/assembly.py | 63 ++---------------------
 3 files changed, 73 insertions(+), 61 deletions(-)
 create mode 100644 cadquery/occ_impl/assembly.py

diff --git a/cadquery/__init__.py b/cadquery/__init__.py
index 28810cbc3..52e574ae9 100644
--- a/cadquery/__init__.py
+++ b/cadquery/__init__.py
@@ -28,6 +28,7 @@
     Selector,
 )
 from .cq import CQ, Workplane
+from .assembly import Assembly
 from . import selectors
 from . import plugins
 
@@ -35,6 +36,7 @@
 __all__ = [
     "CQ",
     "Workplane",
+    "Assembly",
     "plugins",
     "selectors",
     "Plane",
@@ -64,4 +66,4 @@
     "plugins",
 ]
 
-__version__ = "2.0"
+__version__ = "2.1dev"
diff --git a/cadquery/occ_impl/assembly.py b/cadquery/occ_impl/assembly.py
new file mode 100644
index 000000000..431905e6c
--- /dev/null
+++ b/cadquery/occ_impl/assembly.py
@@ -0,0 +1,67 @@
+from typing import Iterable, Tuple
+from typing_extensions import Protocol
+
+from OCP.TDocStd import TDocStd_Document
+from OCP.TCollection import TCollection_ExtendedString
+from OCP.XCAFDoc import XCAFDoc_DocumentTool
+from OCP.TDataStd import TDataStd_Name
+from OCP.TDF import TDF_Label
+
+from .geom import Location
+from .shapes import Shape, Compound
+
+
+class AssemblyProtocol(Protocol):
+    @property
+    def loc(self) -> Location:
+        ...
+
+    @property
+    def name(self) -> str:
+        ...
+
+    @property
+    def shapes(self) -> Iterable[Shape]:
+        ...
+
+    @property
+    def children(self) -> Iterable["AssemblyProtocol"]:
+        ...
+
+
+def toCAF(assy: AssemblyProtocol) -> Tuple[TDF_Label, TDocStd_Document]:
+
+    # prepare a doc
+    doc = TDocStd_Document(TCollection_ExtendedString("XmlXCAF"))
+    tool = XCAFDoc_DocumentTool.ShapeTool_s(doc.Main())
+    tool.SetAutoNaming_s(False)
+
+    # add root
+    top = tool.NewShape()
+
+    root = tool.AddComponent(
+        top, Compound.makeCompound(assy.shapes).moved(assy.loc).wrapped, True
+    )
+    tool.UpdateAssemblies()
+    TDataStd_Name.Set_s(root, TCollection_ExtendedString(assy.name))
+
+    def processChildren(parent, children):
+
+        if tool.IsReference_s(parent):
+            parent_ref, parent = parent, TDF_Label()
+            tool.GetReferredShape_s(parent_ref, parent)
+
+        for ch in children:
+            ch_node = tool.AddComponent(
+                parent, Compound.makeCompound(ch.shapes).moved(ch.loc).wrapped, True
+            )
+            tool.UpdateAssemblies()
+            TDataStd_Name.Set_s(ch_node, TCollection_ExtendedString(ch.name))
+
+            if ch.children:
+                processChildren(ch_node, ch.children)
+
+    processChildren(root, assy.children)
+    tool.UpdateAssemblies()
+
+    return root, doc
diff --git a/cadquery/occ_impl/exporters/assembly.py b/cadquery/occ_impl/exporters/assembly.py
index 17665ce65..2060b7309 100644
--- a/cadquery/occ_impl/exporters/assembly.py
+++ b/cadquery/occ_impl/exporters/assembly.py
@@ -1,71 +1,14 @@
-from typing import Iterable
-from typing_extensions import Protocol
-
-from OCP.TDocStd import TDocStd_Document
-from OCP.TCollection import TCollection_ExtendedString
-from OCP.XCAFDoc import XCAFDoc_DocumentTool
-from OCP.TDataStd import TDataStd_Name
 from OCP.XSControl import XSControl_WorkSession
 from OCP.STEPCAFControl import STEPCAFControl_Writer
 from OCP.STEPControl import STEPControl_StepModelType
 from OCP.IFSelect import IFSelect_ReturnStatus
-from OCP.TDF import TDF_Label
-
-from ..geom import Location
-from ..shapes import Shape, Compound
-
-
-class AssemblyProtocol(Protocol):
-    @property
-    def loc(self) -> Location:
-        ...
-
-    @property
-    def name(self) -> str:
-        ...
-
-    @property
-    def shapes(self) -> Iterable[Shape]:
-        ...
-
-    @property
-    def children(self) -> Iterable["AssemblyProtocol"]:
-        ...
-
-
-def exportAssembly(assy: AssemblyProtocol, path) -> bool:
-
-    # prepare a doc
-    doc = TDocStd_Document(TCollection_ExtendedString("CQ assy"))
-    tool = XCAFDoc_DocumentTool.ShapeTool_s(doc.Main())
-
-    # add root
-    top = tool.NewShape()
-
-    root = tool.AddComponent(
-        top, Compound.makeCompound(assy.shapes).moved(assy.loc).wrapped, True
-    )
-    TDataStd_Name.Set_s(root, TCollection_ExtendedString(assy.name))
-
-    def processChildren(parent, children):
-
-        if tool.IsReference_s(parent):
-            parent_ref, parent = parent, TDF_Label()
-            tool.GetReferredShape_s(parent_ref, parent)
 
-        for ch in children:
-            ch_node = tool.AddComponent(
-                parent, Compound.makeCompound(ch.shapes).moved(ch.loc).wrapped, True
-            )
-            tool.UpdateAssemblies()
-            TDataStd_Name.Set_s(ch_node, TCollection_ExtendedString(ch.name))
+from ..assembly import AssemblyProtocol, toCAF
 
-            if ch.children:
-                processChildren(ch_node, ch.children)
 
-    processChildren(root, assy.children)
+def exportAssembly(assy: AssemblyProtocol, path: str) -> bool:
 
-    tool.UpdateAssemblies()
+    _, doc = toCAF(assy)
 
     session = XSControl_WorkSession()
     writer = STEPCAFControl_Writer(session, False)

From 63bf354224c955ea8cf1454a2c7d9a97b0425bb2 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Tue, 1 Sep 2020 15:13:14 +0200
Subject: [PATCH 13/70] Added export to native CAF format

---
 cadquery/occ_impl/assembly.py           | 21 ++++++++++++++++++---
 cadquery/occ_impl/exporters/assembly.py | 17 +++++++++++++++++
 2 files changed, 35 insertions(+), 3 deletions(-)

diff --git a/cadquery/occ_impl/assembly.py b/cadquery/occ_impl/assembly.py
index 431905e6c..fc0fe8f9d 100644
--- a/cadquery/occ_impl/assembly.py
+++ b/cadquery/occ_impl/assembly.py
@@ -29,21 +29,35 @@ def children(self) -> Iterable["AssemblyProtocol"]:
         ...
 
 
+def setName(l: TDF_Label, name, tool):
+
+    origin = l
+
+    if tool.IsReference_s(l):
+        origin = TDF_Label()
+        tool.GetReferredShape_s(l, origin)
+    else:
+        origin = l
+
+    TDataStd_Name.Set_s(origin, TCollection_ExtendedString(name))
+
+
 def toCAF(assy: AssemblyProtocol) -> Tuple[TDF_Label, TDocStd_Document]:
 
     # prepare a doc
-    doc = TDocStd_Document(TCollection_ExtendedString("XmlXCAF"))
+    doc = TDocStd_Document(TCollection_ExtendedString("XmlOcaf"))
     tool = XCAFDoc_DocumentTool.ShapeTool_s(doc.Main())
     tool.SetAutoNaming_s(False)
 
     # add root
     top = tool.NewShape()
+    TDataStd_Name.Set_s(top, TCollection_ExtendedString("CQ assembly"))
 
     root = tool.AddComponent(
         top, Compound.makeCompound(assy.shapes).moved(assy.loc).wrapped, True
     )
+    setName(root, assy.name, tool)
     tool.UpdateAssemblies()
-    TDataStd_Name.Set_s(root, TCollection_ExtendedString(assy.name))
 
     def processChildren(parent, children):
 
@@ -55,8 +69,9 @@ def processChildren(parent, children):
             ch_node = tool.AddComponent(
                 parent, Compound.makeCompound(ch.shapes).moved(ch.loc).wrapped, True
             )
+
+            setName(ch_node, ch.name, tool)
             tool.UpdateAssemblies()
-            TDataStd_Name.Set_s(ch_node, TCollection_ExtendedString(ch.name))
 
             if ch.children:
                 processChildren(ch_node, ch.children)
diff --git a/cadquery/occ_impl/exporters/assembly.py b/cadquery/occ_impl/exporters/assembly.py
index 2060b7309..98e453e2c 100644
--- a/cadquery/occ_impl/exporters/assembly.py
+++ b/cadquery/occ_impl/exporters/assembly.py
@@ -2,6 +2,10 @@
 from OCP.STEPCAFControl import STEPCAFControl_Writer
 from OCP.STEPControl import STEPControl_StepModelType
 from OCP.IFSelect import IFSelect_ReturnStatus
+from OCP.XCAFApp import XCAFApp_Application
+from OCP.XmlDrivers import XmlDrivers
+from OCP.TCollection import TCollection_ExtendedString
+from OCP.PCDM import PCDM_StoreStatus
 
 from ..assembly import AssemblyProtocol, toCAF
 
@@ -18,3 +22,16 @@ def exportAssembly(assy: AssemblyProtocol, path: str) -> bool:
     status = writer.Write(path)
 
     return status == IFSelect_ReturnStatus.IFSelect_RetDone
+
+
+def exportCAF(assy: AssemblyProtocol, path: str) -> bool:
+
+    _, doc = toCAF(assy)
+    app = XCAFApp_Application.GetApplication_s()
+    XmlDrivers.DefineFormat_s(app)
+
+    status = app.SaveAs(doc, TCollection_ExtendedString(path))
+
+    app.Close(doc)
+
+    return status == PCDM_StoreStatus.PCDM_SS_OK

From af5f213fb86bd056e52e6d72946ac2e4ea0452a9 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Tue, 1 Sep 2020 17:40:02 +0200
Subject: [PATCH 14/70] Rewokred OCAF structure generation

---
 cadquery/assembly.py          | 10 +++++++-
 cadquery/occ_impl/assembly.py | 43 ++++++++++++++++++-----------------
 2 files changed, 31 insertions(+), 22 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index c2da64cc5..efe5ef9f2 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -1,4 +1,4 @@
-from typing import Union, Optional, List, Mapping, Any, overload, Tuple
+from typing import Union, Optional, List, Mapping, Any, overload, Tuple, Iterator
 from typing_extensions import Literal
 from uuid import uuid1 as uuid
 
@@ -109,3 +109,11 @@ def shapes(self) -> List[Shape]:
             rv = [el for el in self.obj.vals() if isinstance(el, Shape)]
 
         return rv
+
+    def traverse(self) -> Iterator[Tuple[str, "Assembly"]]:
+
+        for ch in self.children:
+            for el in ch.traverse():
+                yield el
+
+        yield (self.name, self)
diff --git a/cadquery/occ_impl/assembly.py b/cadquery/occ_impl/assembly.py
index fc0fe8f9d..78397cf59 100644
--- a/cadquery/occ_impl/assembly.py
+++ b/cadquery/occ_impl/assembly.py
@@ -1,4 +1,4 @@
-from typing import Iterable, Tuple
+from typing import Iterable, Tuple, Dict
 from typing_extensions import Protocol
 
 from OCP.TDocStd import TDocStd_Document
@@ -6,6 +6,7 @@
 from OCP.XCAFDoc import XCAFDoc_DocumentTool
 from OCP.TDataStd import TDataStd_Name
 from OCP.TDF import TDF_Label
+from OCP.TopLoc import TopLoc_Location
 
 from .geom import Location
 from .shapes import Shape, Compound
@@ -28,6 +29,9 @@ def shapes(self) -> Iterable[Shape]:
     def children(self) -> Iterable["AssemblyProtocol"]:
         ...
 
+    def traverse(self) -> Iterable[Tuple[str, "AssemblyProtocol"]]:
+        ...
+
 
 def setName(l: TDF_Label, name, tool):
 
@@ -53,30 +57,27 @@ def toCAF(assy: AssemblyProtocol) -> Tuple[TDF_Label, TDocStd_Document]:
     top = tool.NewShape()
     TDataStd_Name.Set_s(top, TCollection_ExtendedString("CQ assembly"))
 
-    root = tool.AddComponent(
-        top, Compound.makeCompound(assy.shapes).moved(assy.loc).wrapped, True
-    )
-    setName(root, assy.name, tool)
-    tool.UpdateAssemblies()
+    # add leafs and subassemblies
+    subassys: Dict[str, Tuple[TDF_Label, Location]] = {}
+    for k, v in assy.traverse():
+        # leaf part
+        lab = tool.NewShape()
+        tool.SetShape(lab, Compound.makeCompound(v.shapes).wrapped)
+        setName(lab, f"{k}_part", tool)
 
-    def processChildren(parent, children):
+        # assy part
+        subassy = tool.NewShape()
+        tool.AddComponent(subassy, lab, TopLoc_Location())
+        setName(subassy, k, tool)
 
-        if tool.IsReference_s(parent):
-            parent_ref, parent = parent, TDF_Label()
-            tool.GetReferredShape_s(parent_ref, parent)
+        subassys[k] = (subassy, v.loc)
 
-        for ch in children:
-            ch_node = tool.AddComponent(
-                parent, Compound.makeCompound(ch.shapes).moved(ch.loc).wrapped, True
+        for ch in v.children:
+            tool.AddComponent(
+                subassy, subassys[ch.name][0], subassys[ch.name][1].wrapped
             )
 
-            setName(ch_node, ch.name, tool)
-            tool.UpdateAssemblies()
-
-            if ch.children:
-                processChildren(ch_node, ch.children)
-
-    processChildren(root, assy.children)
+    tool.AddComponent(top, subassys[assy.name][0], assy.loc.wrapped)
     tool.UpdateAssemblies()
 
-    return root, doc
+    return top, doc

From 46f90110ef6dc290ffec0e907aff802c9cd8b943 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Thu, 3 Sep 2020 21:54:19 +0200
Subject: [PATCH 15/70] Added tests

---
 tests/test_assembly.py | 74 ++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 74 insertions(+)
 create mode 100644 tests/test_assembly.py

diff --git a/tests/test_assembly.py b/tests/test_assembly.py
new file mode 100644
index 000000000..bde86130d
--- /dev/null
+++ b/tests/test_assembly.py
@@ -0,0 +1,74 @@
+import pytest
+import os
+
+import cadquery as cq
+from cadquery.occ_impl.exporters.assembly import exportAssembly, exportCAF
+
+
+@pytest.fixture
+def simple_assy():
+
+    b1 = cq.Workplane().box(1, 1, 1)
+    b2 = cq.Workplane().box(1, 1, 2)
+    b3 = cq.Workplane().pushPoints([(0, 0), (-2, -5)]).box(1, 1, 3)
+
+    assy = cq.Assembly(b1, loc=cq.Location(cq.Vector(2, -5, 0)))
+    assy.add(b2, loc=cq.Location(cq.Vector(1, 1, 0)))
+    assy.add(b3, loc=cq.Location(cq.Vector(2, 3, 0)))
+
+    return assy
+
+
+@pytest.fixture
+def nested_assy():
+
+    b1 = cq.Workplane().box(1, 1, 1)
+    b2 = cq.Workplane().box(1, 1, 2)
+    b3 = cq.Workplane().pushPoints([(0, 0), (-2, -5)]).box(1, 1, 3)
+
+    assy = cq.Assembly(b1, loc=cq.Location(cq.Vector(2, -5, 0)), name="TOP")
+    assy2 = cq.Assembly(b2, loc=cq.Location(cq.Vector(2, 2, 0)), name="SECOND")
+    assy2.add(b3, loc=cq.Location(cq.Vector(0, -2, 0)), name="BOTTOM")
+
+    assy.add(assy2)
+
+    return assy
+
+
+def test_assembly(simple_assy, nested_assy):
+
+    # basic checks
+    assert len(simple_assy.objects) == 3
+    assert len(simple_assy.children) == 2
+    assert len(simple_assy.shapes) == 1
+
+    assert len(nested_assy.objects) == 3
+    assert len(nested_assy.children) == 1
+
+    # bottm-up traversal
+    kvs = list(nested_assy.traverse())
+
+    assert kvs[0][0] == "BOTTOM"
+    assert len(kvs[0][1].shapes[0].Solids()) == 2
+    assert kvs[-1][0] == "TOP"
+
+
+def test_step_export(simple_assy):
+
+    exportAssembly(simple_assy, "simple.step")
+
+    w = cq.importers.importStep("simple.step")
+    assert w.solids().size() == 4
+
+    # check that locations were applied correctly
+    c = cq.Compound.makeCompound(w.solids().vals()).Center()
+    c.toTuple()
+    assert pytest.approx(c.toTuple()) == (2.888888888888889, -4.444444444444445, 0)
+
+
+def test_native_export(simple_assy):
+
+    exportCAF(simple_assy, "assy.xml")
+
+    # only sanity check for now
+    assert os.path.exists("assy.xml")

From 834e23052e2a6ba6b28e3fededf1ad9bd849f22b Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 4 Sep 2020 10:00:00 +0200
Subject: [PATCH 16/70] Simplify setName

---
 cadquery/occ_impl/assembly.py | 10 +---------
 1 file changed, 1 insertion(+), 9 deletions(-)

diff --git a/cadquery/occ_impl/assembly.py b/cadquery/occ_impl/assembly.py
index 78397cf59..2e8bd3e61 100644
--- a/cadquery/occ_impl/assembly.py
+++ b/cadquery/occ_impl/assembly.py
@@ -35,15 +35,7 @@ def traverse(self) -> Iterable[Tuple[str, "AssemblyProtocol"]]:
 
 def setName(l: TDF_Label, name, tool):
 
-    origin = l
-
-    if tool.IsReference_s(l):
-        origin = TDF_Label()
-        tool.GetReferredShape_s(l, origin)
-    else:
-        origin = l
-
-    TDataStd_Name.Set_s(origin, TCollection_ExtendedString(name))
+    TDataStd_Name.Set_s(l, TCollection_ExtendedString(name))
 
 
 def toCAF(assy: AssemblyProtocol) -> Tuple[TDF_Label, TDocStd_Document]:

From 40a214e467adb91d661e92412a6b12cae068ccba Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 4 Sep 2020 10:17:53 +0200
Subject: [PATCH 17/70] Better interpretable assy test

---
 tests/test_assembly.py | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/tests/test_assembly.py b/tests/test_assembly.py
index bde86130d..699237317 100644
--- a/tests/test_assembly.py
+++ b/tests/test_assembly.py
@@ -8,7 +8,7 @@
 @pytest.fixture
 def simple_assy():
 
-    b1 = cq.Workplane().box(1, 1, 1)
+    b1 = cq.Solid.makeBox(1,1,1)
     b2 = cq.Workplane().box(1, 1, 2)
     b3 = cq.Workplane().pushPoints([(0, 0), (-2, -5)]).box(1, 1, 3)
 
@@ -23,12 +23,12 @@ def simple_assy():
 def nested_assy():
 
     b1 = cq.Workplane().box(1, 1, 1)
-    b2 = cq.Workplane().box(1, 1, 2)
-    b3 = cq.Workplane().pushPoints([(0, 0), (-2, -5)]).box(1, 1, 3)
+    b2 = cq.Workplane().box(1, 1, 1)
+    b3 = cq.Workplane().pushPoints([(-2, 0), (2, 0)]).box(1, 1, .5)
 
-    assy = cq.Assembly(b1, loc=cq.Location(cq.Vector(2, -5, 0)), name="TOP")
-    assy2 = cq.Assembly(b2, loc=cq.Location(cq.Vector(2, 2, 0)), name="SECOND")
-    assy2.add(b3, loc=cq.Location(cq.Vector(0, -2, 0)), name="BOTTOM")
+    assy = cq.Assembly(b1, loc=cq.Location(cq.Vector(0, 0, 0)), name="TOP")
+    assy2 = cq.Assembly(b2, loc=cq.Location(cq.Vector(0, 4, 0)), name="SECOND")
+    assy2.add(b3, loc=cq.Location(cq.Vector(0, 4, 0)), name="BOTTOM")
 
     assy.add(assy2)
 
@@ -53,17 +53,17 @@ def test_assembly(simple_assy, nested_assy):
     assert kvs[-1][0] == "TOP"
 
 
-def test_step_export(simple_assy):
+def test_step_export(nested_assy):
 
-    exportAssembly(simple_assy, "simple.step")
+    exportAssembly(nested_assy, "nested.step")
 
-    w = cq.importers.importStep("simple.step")
+    w = cq.importers.importStep("nested.step")
     assert w.solids().size() == 4
 
     # check that locations were applied correctly
     c = cq.Compound.makeCompound(w.solids().vals()).Center()
     c.toTuple()
-    assert pytest.approx(c.toTuple()) == (2.888888888888889, -4.444444444444445, 0)
+    assert pytest.approx(c.toTuple()) == (0, 4, 0)
 
 
 def test_native_export(simple_assy):

From cc4dd03e5455ff7c806d509ea21625807e36a5cf Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 4 Sep 2020 10:18:11 +0200
Subject: [PATCH 18/70] Test additional Loc ctor

---
 tests/test_cad_objects.py | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/tests/test_cad_objects.py b/tests/test_cad_objects.py
index 91ccd2c6c..bfa2e22c2 100644
--- a/tests/test_cad_objects.py
+++ b/tests/test_cad_objects.py
@@ -2,7 +2,7 @@
 import math
 import unittest
 from tests import BaseTest
-from OCP.gp import gp_Vec, gp_Pnt, gp_Ax2, gp_Circ, gp_Elips, gp, gp_XYZ
+from OCP.gp import gp_Vec, gp_Pnt, gp_Ax2, gp_Circ, gp_Elips, gp, gp_XYZ, gp_Trsf
 from OCP.BRepBuilderAPI import BRepBuilderAPI_MakeEdge
 
 from cadquery import *
@@ -395,7 +395,7 @@ def testPlaneNotEqual(self):
         )
 
     def testLocation(self):
-
+        
         # Vector
         loc1 = Location(Vector(0, 0, 1))
 
@@ -408,6 +408,13 @@ def testLocation(self):
         angle = loc2.wrapped.Transformation().GetRotation().GetRotationAngle() * RAD2DEG
         self.assertAlmostEqual(45, angle)
 
+        # gp_Trsf
+        T = gp_Trsf()
+        T.SetTranslation(gp_Vec(0,0,1))
+        loc3 = Location(T)
+        
+        assert( loc1.wrapped.Transformation().TranslationPart().Z() == loc3.wrapped.Transformation().TranslationPart().Z())
+
 
 if __name__ == "__main__":
     unittest.main()

From 2029e40a7bc9df045dd15ac399598a13e749a33a Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 4 Sep 2020 11:46:56 +0200
Subject: [PATCH 19/70] Implemented save

---
 cadquery/assembly.py | 18 ++++++++++++++++--
 1 file changed, 16 insertions(+), 2 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index efe5ef9f2..31b5503bc 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -5,10 +5,12 @@
 from .cq import Workplane
 from .occ_impl.shapes import Shape
 from .occ_impl.geom import Location
+from .occ_impl.exporters.assembly import exportAssembly, exportCAF
 
 
 AssemblyObjects = Union[Shape, Workplane, None]
 ConstraintKinds = Literal["Plane", "Point", "Axis"]
+ExportLiterals = Literal["STEP", "XML"]
 
 
 class Constraint(object):
@@ -90,9 +92,21 @@ def solve(self):
 
         raise NotImplementedError
 
-    def save(self, path: str):
+    def save(self, path: str, exportType: Optional[ExportLiterals] = None):
 
-        raise NotImplementedError
+        if exportType is None:
+            t = path.split(".")[-1].upper()
+            if t in ExportLiterals.__args__:
+                exportType = t
+            else:
+                raise ValueError("Unknown extension, specify export type explicitly")
+
+        if exportType == "STEP":
+            exportAssembly(self, path)
+        elif exportType == "XML":
+            exportCAF(self, path)
+        else:
+            raise ValueError(f"Unknown format: {exportType}")
 
     def load(self, path: str):
 

From 9693f5e35797cfc524285bf35b3c6113d73a5753 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 4 Sep 2020 11:48:15 +0200
Subject: [PATCH 20/70] Better format definition

---
 cadquery/occ_impl/exporters/assembly.py | 21 ++++++++++++++++++---
 1 file changed, 18 insertions(+), 3 deletions(-)

diff --git a/cadquery/occ_impl/exporters/assembly.py b/cadquery/occ_impl/exporters/assembly.py
index 98e453e2c..99dd08f7f 100644
--- a/cadquery/occ_impl/exporters/assembly.py
+++ b/cadquery/occ_impl/exporters/assembly.py
@@ -3,8 +3,11 @@
 from OCP.STEPControl import STEPControl_StepModelType
 from OCP.IFSelect import IFSelect_ReturnStatus
 from OCP.XCAFApp import XCAFApp_Application
-from OCP.XmlDrivers import XmlDrivers
-from OCP.TCollection import TCollection_ExtendedString
+from OCP.XmlDrivers import (
+    XmlDrivers_DocumentStorageDriver,
+    XmlDrivers_DocumentRetrievalDriver,
+)
+from OCP.TCollection import TCollection_ExtendedString, TCollection_AsciiString
 from OCP.PCDM import PCDM_StoreStatus
 
 from ..assembly import AssemblyProtocol, toCAF
@@ -28,7 +31,19 @@ def exportCAF(assy: AssemblyProtocol, path: str) -> bool:
 
     _, doc = toCAF(assy)
     app = XCAFApp_Application.GetApplication_s()
-    XmlDrivers.DefineFormat_s(app)
+
+    store = XmlDrivers_DocumentStorageDriver(
+        TCollection_ExtendedString("Copyright: Open Cascade, 2001-2002")
+    )
+    ret = XmlDrivers_DocumentRetrievalDriver()
+
+    app.DefineFormat(
+        TCollection_AsciiString("XmlXCAF"),
+        TCollection_AsciiString("Xml XCAF Document"),
+        TCollection_AsciiString(path.split(".")[-1]),
+        ret,
+        store,
+    )
 
     status = app.SaveAs(doc, TCollection_ExtendedString(path))
 

From 58899208e00ee51d5f2e85b667d88e7e868bc1ae Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 4 Sep 2020 11:48:28 +0200
Subject: [PATCH 21/70] Test assembly.save

---
 tests/test_assembly.py | 24 +++++++++++++++++++++++-
 1 file changed, 23 insertions(+), 1 deletion(-)

diff --git a/tests/test_assembly.py b/tests/test_assembly.py
index 699237317..fef61f2e5 100644
--- a/tests/test_assembly.py
+++ b/tests/test_assembly.py
@@ -34,7 +34,6 @@ def nested_assy():
 
     return assy
 
-
 def test_assembly(simple_assy, nested_assy):
 
     # basic checks
@@ -72,3 +71,26 @@ def test_native_export(simple_assy):
 
     # only sanity check for now
     assert os.path.exists("assy.xml")
+
+def test_save(simple_assy):
+    
+    simple_assy.save('simple.step')
+    assert os.path.exists("simple.step")
+    
+    simple_assy.save('simple.xml')
+    assert os.path.exists("simple.xml")
+    
+    simple_assy.save('simple.step')
+    assert os.path.exists("simple.step")
+    
+    simple_assy.save('simple.stp','STEP')
+    assert os.path.exists("simple.stp")
+    
+    simple_assy.save('simple.caf','XML')
+    assert os.path.exists("simple.caf.xml")
+    
+    with pytest.raises(ValueError):
+        simple_assy.save('simple.dxf')
+    
+    with pytest.raises(ValueError):
+        simple_assy.save('simple.step','DXF')
\ No newline at end of file

From fbf6a54a0e9111ae7c8ab1ef4c0457d5890a2bda Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 4 Sep 2020 11:53:26 +0200
Subject: [PATCH 22/70] Fixed format mismatch

---
 cadquery/occ_impl/exporters/assembly.py | 2 +-
 tests/test_assembly.py                  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/cadquery/occ_impl/exporters/assembly.py b/cadquery/occ_impl/exporters/assembly.py
index 99dd08f7f..f07f091ef 100644
--- a/cadquery/occ_impl/exporters/assembly.py
+++ b/cadquery/occ_impl/exporters/assembly.py
@@ -38,7 +38,7 @@ def exportCAF(assy: AssemblyProtocol, path: str) -> bool:
     ret = XmlDrivers_DocumentRetrievalDriver()
 
     app.DefineFormat(
-        TCollection_AsciiString("XmlXCAF"),
+        TCollection_AsciiString("XmlOcaf"),
         TCollection_AsciiString("Xml XCAF Document"),
         TCollection_AsciiString(path.split(".")[-1]),
         ret,
diff --git a/tests/test_assembly.py b/tests/test_assembly.py
index fef61f2e5..39c9d7bca 100644
--- a/tests/test_assembly.py
+++ b/tests/test_assembly.py
@@ -87,7 +87,7 @@ def test_save(simple_assy):
     assert os.path.exists("simple.stp")
     
     simple_assy.save('simple.caf','XML')
-    assert os.path.exists("simple.caf.xml")
+    assert os.path.exists("simple.caf")
     
     with pytest.raises(ValueError):
         simple_assy.save('simple.dxf')

From 6c2840a446b57069eaeb070368b98a79afac944d Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 4 Sep 2020 12:49:25 +0200
Subject: [PATCH 23/70] Py3.6 fix

---
 cadquery/assembly.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 31b5503bc..7fff01d76 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -1,4 +1,4 @@
-from typing import Union, Optional, List, Mapping, Any, overload, Tuple, Iterator
+from typing import Union, Optional, List, Mapping, Any, overload, Tuple, Iterator, cast
 from typing_extensions import Literal
 from uuid import uuid1 as uuid
 
@@ -96,8 +96,8 @@ def save(self, path: str, exportType: Optional[ExportLiterals] = None):
 
         if exportType is None:
             t = path.split(".")[-1].upper()
-            if t in ExportLiterals.__args__:
-                exportType = t
+            if t in ("STEP", "XML"):
+                exportType = cast(ExportLiterals, t)
             else:
                 raise ValueError("Unknown extension, specify export type explicitly")
 

From 1fe46ba177a8f168036ba107c6696bf54d59b390 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 4 Sep 2020 13:07:47 +0200
Subject: [PATCH 24/70] Make the Assy API fluent

---
 cadquery/assembly.py | 23 +++++++++++++++--------
 1 file changed, 15 insertions(+), 8 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 7fff01d76..2146ab749 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -48,7 +48,7 @@ def __init__(
         self.objects = {self.name: self.obj}
 
     @overload
-    def add(self, obj: "Assembly"):
+    def add(self, obj: "Assembly") -> "Assembly":
         ...
 
     @overload
@@ -57,7 +57,7 @@ def add(
         obj: AssemblyObjects,
         loc: Optional[Location] = None,
         name: Optional[str] = None,
-    ):
+    ) -> "Assembly":
         ...
 
     def add(self, arg, **kwargs):
@@ -70,29 +70,33 @@ def add(self, arg, **kwargs):
         else:
             self.add(Assembly(arg, **kwargs))
 
+        return self
+
     @overload
-    def constrain(self, query: str):
+    def constrain(self, query: str) -> "Assembly":
         ...
 
     @overload
-    def constrain(self, q1: str, q2: str, kind: ConstraintKinds):
+    def constrain(self, q1: str, q2: str, kind: ConstraintKinds) -> "Assembly":
         ...
 
     @overload
     def constrain(
         self, id1: str, s1: Shape, id2: str, s2: Shape, kind: ConstraintKinds
-    ):
+    ) -> "Assembly":
         ...
 
     def constrain(self, *args):
 
         raise NotImplementedError
 
-    def solve(self):
+    def solve(self) -> "Assembly":
 
         raise NotImplementedError
 
-    def save(self, path: str, exportType: Optional[ExportLiterals] = None):
+    def save(
+        self, path: str, exportType: Optional[ExportLiterals] = None
+    ) -> "Assembly":
 
         if exportType is None:
             t = path.split(".")[-1].upper()
@@ -108,7 +112,10 @@ def save(self, path: str, exportType: Optional[ExportLiterals] = None):
         else:
             raise ValueError(f"Unknown format: {exportType}")
 
-    def load(self, path: str):
+        return self
+
+    @classmethod
+    def load(cls, path: str) -> "Assembly":
 
         raise NotImplementedError
 

From 726616b582457c0be7bd0887a67e1a7c3ff0b799 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 4 Sep 2020 13:11:16 +0200
Subject: [PATCH 25/70] Added basic docs

---
 doc/apireference.rst   | 13 +++++++++++++
 doc/classreference.rst |  2 ++
 doc/primer.rst         | 16 ++++++++++++++++
 3 files changed, 31 insertions(+)

diff --git a/doc/apireference.rst b/doc/apireference.rst
index 82a4ea905..d2a3035cc 100644
--- a/doc/apireference.rst
+++ b/doc/apireference.rst
@@ -185,3 +185,16 @@ as a basis for futher operations.
         SubtractSelector
         InverseSelector
         StringSyntaxSelector
+        
+Assemblies
+----------
+
+Workplane and Shape objects can be connected together into assemblies
+
+.. currentmodule:: cadquery
+
+.. autosummary::
+
+        Assembly
+        Assembly.add
+        Assembly.save
diff --git a/doc/classreference.rst b/doc/classreference.rst
index ce88a2a78..58261c45d 100644
--- a/doc/classreference.rst
+++ b/doc/classreference.rst
@@ -18,6 +18,7 @@ Core Classes
 .. autosummary::
      CQ
      Workplane
+     Assembly
 
 Topological Classes
 ----------------------
@@ -39,6 +40,7 @@ Geometry Classes
     Vector
     Matrix
     Plane
+    Location
 
 Selector Classes
 ---------------------
diff --git a/doc/primer.rst b/doc/primer.rst
index 41b14adfa..4c6c5875d 100644
--- a/doc/primer.rst
+++ b/doc/primer.rst
@@ -165,3 +165,19 @@ iterates on each member of the stack.
 This is really useful to remember  when you author your own plugins. :py:meth:`cadquery.cq.Workplane.each` is useful for this purpose.
 
 
+Assemblies
+----------
+
+Simple models can be combined into complex, possibly nested, assemblies::
+
+    part1 = Workplane().box(1,1,1)
+    part2 = Workplane().box(1,1,2)
+    part3 = Workplane().box(1,1,3)
+    
+    assy = (
+        Assembly(part1, Location((1,0,0)))
+        .add(part2, Location(1,0,0))
+        .add(part3, Location(-1,0,0))
+    )
+
+Note that the locations of the children parts are defined with respect to their parents - in the above example ``part3`` will be located at (0,0,0) in the global coordinate system.

From 4c9ed42ffdaca31d389fe294f4d2c3023b79ff9c Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 4 Sep 2020 16:21:00 +0200
Subject: [PATCH 26/70] Added docstrings

---
 cadquery/assembly.py | 48 ++++++++++++++++++++++++++++++++++++++++++--
 1 file changed, 46 insertions(+), 2 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 2146ab749..2827d02b0 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -21,6 +21,8 @@ class Constraint(object):
 
 
 class Assembly(object):
+    """Nested assembly of Workplane and Shape objects defining their relative positions.
+    """
 
     loc: Location
     name: str
@@ -35,20 +37,44 @@ class Assembly(object):
 
     def __init__(
         self,
-        obj: AssemblyObjects,
+        obj: AssemblyObjects = None,
         loc: Optional[Location] = None,
         name: Optional[str] = None,
     ):
+        """
+        construct an assembly
+
+        :param obj: root object of the assembly (deafault: None)
+        :param loc: location of the root object (deafault: None, interpreted as identity transformation)
+        :param name: unique name of the root object (default: None, reasulting in an UUID being generated)
+        :return: An Assembly object.
+        
+        To create an empt assembly use::
+            
+            assy = Assembly(None)
+            
+        To create one containt a root object::
+            
+            b = Workplane().box(1,1,1)
+            assy = Assembly(b, Location(Vector(0,0,1)), name="root")
+            
+        """
 
         self.obj = obj
         self.loc = loc if loc else Location()
         self.name = name if name else str(uuid())
+        self.parent = None
 
         self.children = []
         self.objects = {self.name: self.obj}
 
     @overload
     def add(self, obj: "Assembly") -> "Assembly":
+        """
+        add a subassembly to the current assembly.
+        
+        :param obj: subassembly to be added
+        """
         ...
 
     @overload
@@ -58,6 +84,13 @@ def add(
         loc: Optional[Location] = None,
         name: Optional[str] = None,
     ) -> "Assembly":
+        """
+        add a subassembly to the current assembly with explicit location and name
+        
+        :param obj: object to be added as a subassembly
+        :param loc: location of the root object (deafault: None, interpreted as identity transformation)
+        :param name: unique name of the root object (default: None, reasulting in an UUID being generated)
+        """
         ...
 
     def add(self, arg, **kwargs):
@@ -67,8 +100,13 @@ def add(self, arg, **kwargs):
             self.objects[arg.name] = arg.obj
             self.objects.update(arg.objects)
 
+            arg.parent = self
+
         else:
-            self.add(Assembly(arg, **kwargs))
+            assy = Assembly(arg, **kwargs)
+            assy.parent = self
+
+            self.add(assy)
 
         return self
 
@@ -97,6 +135,12 @@ def solve(self) -> "Assembly":
     def save(
         self, path: str, exportType: Optional[ExportLiterals] = None
     ) -> "Assembly":
+        """
+        save as STEP or OCCT native XML file
+        
+        :param path: filepath
+        :param exportType: export format (deafault: None, results in format being inferred form the path)
+        """
 
         if exportType is None:
             t = path.split(".")[-1].upper()

From fe850502f4d27ae1f004bce52bc3922a4b952c58 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 4 Sep 2020 16:43:06 +0200
Subject: [PATCH 27/70] Change add interface to be more generic

---
 cadquery/assembly.py | 28 +++++++++++++++++++++++-----
 1 file changed, 23 insertions(+), 5 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 2827d02b0..6d9e2aa96 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -69,11 +69,18 @@ def __init__(
         self.objects = {self.name: self.obj}
 
     @overload
-    def add(self, obj: "Assembly") -> "Assembly":
+    def add(
+        self,
+        obj: "Assembly",
+        loc: Optional[Location] = None,
+        name: Optional[str] = None,
+    ) -> "Assembly":
         """
         add a subassembly to the current assembly.
         
         :param obj: subassembly to be added
+        :param loc: location of the root object (deafault: None, resulting in the location stored in the subassembly being used)
+        :param name: unique name of the root object (default: None, resulting in the name stored in the subassembly being used)
         """
         ...
 
@@ -89,16 +96,27 @@ def add(
         
         :param obj: object to be added as a subassembly
         :param loc: location of the root object (deafault: None, interpreted as identity transformation)
-        :param name: unique name of the root object (default: None, reasulting in an UUID being generated)
+        :param name: unique name of the root object (default: None, resulting in an UUID being generated)
         """
         ...
 
     def add(self, arg, **kwargs):
 
         if isinstance(arg, Assembly):
-            self.children.append(arg)
-            self.objects[arg.name] = arg.obj
-            self.objects.update(arg.objects)
+
+            subassy = Assembly(
+                arg.obj,
+                kwargs["loc"] if kwargs.get("loc") else arg.loc,
+                kwargs["name"] if kwargs.get("name") else arg.name,
+            )
+
+            subassy.children.extend(arg.children)
+            subassy.objects[subassy.name] = subassy.obj
+            subassy.objects.update(arg.objects)
+
+            self.children.append(subassy)
+            self.objects[subassy.name] = subassy.obj
+            self.objects.update(subassy.objects)
 
             arg.parent = self
 

From 60a664874fc09044583dad18c7a89abdfec6cd0c Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Sun, 6 Sep 2020 17:45:32 +0200
Subject: [PATCH 28/70] Color implementation for Assembly

---
 cadquery/__init__.py                    |  3 +-
 cadquery/assembly.py                    | 11 +++++
 cadquery/occ_impl/assembly.py           | 50 ++++++++++++++++++++--
 cadquery/occ_impl/exporters/assembly.py |  2 +
 tests/test_assembly.py                  | 57 +++++++++++++++++--------
 5 files changed, 102 insertions(+), 21 deletions(-)

diff --git a/cadquery/__init__.py b/cadquery/__init__.py
index 52e574ae9..691f0326b 100644
--- a/cadquery/__init__.py
+++ b/cadquery/__init__.py
@@ -28,7 +28,7 @@
     Selector,
 )
 from .cq import CQ, Workplane
-from .assembly import Assembly
+from .assembly import Assembly, Color
 from . import selectors
 from . import plugins
 
@@ -37,6 +37,7 @@
     "CQ",
     "Workplane",
     "Assembly",
+    "Color",
     "plugins",
     "selectors",
     "Plane",
diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 6d9e2aa96..7e3b5b0f4 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -5,6 +5,7 @@
 from .cq import Workplane
 from .occ_impl.shapes import Shape
 from .occ_impl.geom import Location
+from .occ_impl.assembly import Color
 from .occ_impl.exporters.assembly import exportAssembly, exportCAF
 
 
@@ -26,6 +27,7 @@ class Assembly(object):
 
     loc: Location
     name: str
+    color: Optional[Color]
     metadata: Mapping[str, Any]
 
     obj: AssemblyObjects
@@ -40,6 +42,7 @@ def __init__(
         obj: AssemblyObjects = None,
         loc: Optional[Location] = None,
         name: Optional[str] = None,
+        color: Optional[Color] = None,
     ):
         """
         construct an assembly
@@ -47,8 +50,10 @@ def __init__(
         :param obj: root object of the assembly (deafault: None)
         :param loc: location of the root object (deafault: None, interpreted as identity transformation)
         :param name: unique name of the root object (default: None, reasulting in an UUID being generated)
+        :param color: color of the added object (default: None)
         :return: An Assembly object.
         
+        
         To create an empt assembly use::
             
             assy = Assembly(None)
@@ -63,6 +68,7 @@ def __init__(
         self.obj = obj
         self.loc = loc if loc else Location()
         self.name = name if name else str(uuid())
+        self.color = color if color else None
         self.parent = None
 
         self.children = []
@@ -74,6 +80,7 @@ def add(
         obj: "Assembly",
         loc: Optional[Location] = None,
         name: Optional[str] = None,
+        color: Optional[Color] = None,
     ) -> "Assembly":
         """
         add a subassembly to the current assembly.
@@ -81,6 +88,7 @@ def add(
         :param obj: subassembly to be added
         :param loc: location of the root object (deafault: None, resulting in the location stored in the subassembly being used)
         :param name: unique name of the root object (default: None, resulting in the name stored in the subassembly being used)
+        :param color: color of the added object (default: None, resulting in the color stored in the subassembly being used)
         """
         ...
 
@@ -90,6 +98,7 @@ def add(
         obj: AssemblyObjects,
         loc: Optional[Location] = None,
         name: Optional[str] = None,
+        color: Optional[Color] = None,
     ) -> "Assembly":
         """
         add a subassembly to the current assembly with explicit location and name
@@ -97,6 +106,7 @@ def add(
         :param obj: object to be added as a subassembly
         :param loc: location of the root object (deafault: None, interpreted as identity transformation)
         :param name: unique name of the root object (default: None, resulting in an UUID being generated)
+        :param color: color of the added object (default: None)
         """
         ...
 
@@ -108,6 +118,7 @@ def add(self, arg, **kwargs):
                 arg.obj,
                 kwargs["loc"] if kwargs.get("loc") else arg.loc,
                 kwargs["name"] if kwargs.get("name") else arg.name,
+                kwargs["color"] if kwargs.get("color") else arg.color,
             )
 
             subassy.children.extend(arg.children)
diff --git a/cadquery/occ_impl/assembly.py b/cadquery/occ_impl/assembly.py
index 2e8bd3e61..c4e7fca33 100644
--- a/cadquery/occ_impl/assembly.py
+++ b/cadquery/occ_impl/assembly.py
@@ -1,17 +1,49 @@
-from typing import Iterable, Tuple, Dict
+from typing import Iterable, Tuple, Dict, overload, Optional
 from typing_extensions import Protocol
 
 from OCP.TDocStd import TDocStd_Document
 from OCP.TCollection import TCollection_ExtendedString
-from OCP.XCAFDoc import XCAFDoc_DocumentTool
+from OCP.XCAFDoc import XCAFDoc_DocumentTool, XCAFDoc_ColorType
 from OCP.TDataStd import TDataStd_Name
 from OCP.TDF import TDF_Label
 from OCP.TopLoc import TopLoc_Location
+from OCP.Quantity import Quantity_ColorRGBA
 
 from .geom import Location
 from .shapes import Shape, Compound
 
 
+class Color(object):
+
+    wrapped: Quantity_ColorRGBA
+
+    @overload
+    def __init__(self, name: str):
+        ...
+
+    @overload
+    def __init__(self, r: float, g: float, b: float, a: float = 0):
+        ...
+
+    def __init__(self, *args, **kwargs):
+
+        if len(args) == 1:
+            self.wrapped = Quantity_ColorRGBA()
+            exists = Quantity_ColorRGBA.ColorFromName_s(args[0], self.wrapped)
+            if not exists:
+                raise ValueError(f"Unknown color name: {args[0]}")
+        elif len(args) == 3:
+            r, g, b = args
+            self.wrapped = Quantity_ColorRGBA(r, g, b, 1)
+            if kwargs.get("a"):
+                self.wrapped.SetAlpha(kwargs.get("a"))
+        elif len(args) == 4:
+            r, g, b, a = args
+            self.wrapped = Quantity_ColorRGBA(r, g, b, a)
+        else:
+            raise ValueError(f"Unsupported arguments: {args}, {kwargs}")
+
+
 class AssemblyProtocol(Protocol):
     @property
     def loc(self) -> Location:
@@ -21,6 +53,10 @@ def loc(self) -> Location:
     def name(self) -> str:
         ...
 
+    @property
+    def color(self) -> Optional[Color]:
+        ...
+
     @property
     def shapes(self) -> Iterable[Shape]:
         ...
@@ -33,17 +69,23 @@ def traverse(self) -> Iterable[Tuple[str, "AssemblyProtocol"]]:
         ...
 
 
-def setName(l: TDF_Label, name, tool):
+def setName(l: TDF_Label, name: str, tool):
 
     TDataStd_Name.Set_s(l, TCollection_ExtendedString(name))
 
 
+def setColor(l: TDF_Label, color: Color, tool):
+
+    tool.SetColor(l, color.wrapped, XCAFDoc_ColorType.XCAFDoc_ColorSurf)
+
+
 def toCAF(assy: AssemblyProtocol) -> Tuple[TDF_Label, TDocStd_Document]:
 
     # prepare a doc
     doc = TDocStd_Document(TCollection_ExtendedString("XmlOcaf"))
     tool = XCAFDoc_DocumentTool.ShapeTool_s(doc.Main())
     tool.SetAutoNaming_s(False)
+    ctool = XCAFDoc_DocumentTool.ColorTool_s(doc.Main())
 
     # add root
     top = tool.NewShape()
@@ -61,6 +103,8 @@ def toCAF(assy: AssemblyProtocol) -> Tuple[TDF_Label, TDocStd_Document]:
         subassy = tool.NewShape()
         tool.AddComponent(subassy, lab, TopLoc_Location())
         setName(subassy, k, tool)
+        if v.color:
+            setColor(subassy, v.color, ctool)
 
         subassys[k] = (subassy, v.loc)
 
diff --git a/cadquery/occ_impl/exporters/assembly.py b/cadquery/occ_impl/exporters/assembly.py
index f07f091ef..88a0ae9e4 100644
--- a/cadquery/occ_impl/exporters/assembly.py
+++ b/cadquery/occ_impl/exporters/assembly.py
@@ -20,6 +20,8 @@ def exportAssembly(assy: AssemblyProtocol, path: str) -> bool:
     session = XSControl_WorkSession()
     writer = STEPCAFControl_Writer(session, False)
     writer.SetNameMode(True)
+    writer.SetColorMode(True)
+    writer.SetLayerMode(True)
     writer.Transfer(doc, STEPControl_StepModelType.STEPControl_AsIs)
 
     status = writer.Write(path)
diff --git a/tests/test_assembly.py b/tests/test_assembly.py
index 39c9d7bca..d412d7409 100644
--- a/tests/test_assembly.py
+++ b/tests/test_assembly.py
@@ -8,7 +8,7 @@
 @pytest.fixture
 def simple_assy():
 
-    b1 = cq.Solid.makeBox(1,1,1)
+    b1 = cq.Solid.makeBox(1, 1, 1)
     b2 = cq.Workplane().box(1, 1, 2)
     b3 = cq.Workplane().pushPoints([(0, 0), (-2, -5)]).box(1, 1, 3)
 
@@ -24,16 +24,38 @@ def nested_assy():
 
     b1 = cq.Workplane().box(1, 1, 1)
     b2 = cq.Workplane().box(1, 1, 1)
-    b3 = cq.Workplane().pushPoints([(-2, 0), (2, 0)]).box(1, 1, .5)
+    b3 = cq.Workplane().pushPoints([(-2, 0), (2, 0)]).box(1, 1, 0.5)
 
     assy = cq.Assembly(b1, loc=cq.Location(cq.Vector(0, 0, 0)), name="TOP")
     assy2 = cq.Assembly(b2, loc=cq.Location(cq.Vector(0, 4, 0)), name="SECOND")
     assy2.add(b3, loc=cq.Location(cq.Vector(0, 4, 0)), name="BOTTOM")
 
-    assy.add(assy2)
+    assy.add(assy2, color=cq.Color("green"))
 
     return assy
 
+
+def test_color():
+
+    c1 = cq.Color("red")
+    assert c1.wrapped.GetRGB().Red() == 1
+    assert c1.wrapped.Alpha() == 1
+
+    c2 = cq.Color(1, 0, 0)
+    assert c2.wrapped.GetRGB().Red() == 1
+    assert c2.wrapped.Alpha() == 1
+
+    c3 = cq.Color(1, 0, 0, 0.5)
+    assert c3.wrapped.GetRGB().Red() == 1
+    assert c3.wrapped.Alpha() == 0.5
+
+    with pytest.raises(ValueError):
+        cq.Color("?????")
+
+    with pytest.raises(ValueError):
+        cq.Color(1, 2, 3, 4, 5)
+
+
 def test_assembly(simple_assy, nested_assy):
 
     # basic checks
@@ -72,25 +94,26 @@ def test_native_export(simple_assy):
     # only sanity check for now
     assert os.path.exists("assy.xml")
 
+
 def test_save(simple_assy):
-    
-    simple_assy.save('simple.step')
+
+    simple_assy.save("simple.step")
     assert os.path.exists("simple.step")
-    
-    simple_assy.save('simple.xml')
+
+    simple_assy.save("simple.xml")
     assert os.path.exists("simple.xml")
-    
-    simple_assy.save('simple.step')
+
+    simple_assy.save("simple.step")
     assert os.path.exists("simple.step")
-    
-    simple_assy.save('simple.stp','STEP')
+
+    simple_assy.save("simple.stp", "STEP")
     assert os.path.exists("simple.stp")
-    
-    simple_assy.save('simple.caf','XML')
+
+    simple_assy.save("simple.caf", "XML")
     assert os.path.exists("simple.caf")
-    
+
     with pytest.raises(ValueError):
-        simple_assy.save('simple.dxf')
-    
+        simple_assy.save("simple.dxf")
+
     with pytest.raises(ValueError):
-        simple_assy.save('simple.step','DXF')
\ No newline at end of file
+        simple_assy.save("simple.step", "DXF")

From f71f7c5173a03c74eeca3160793d295453d00d8b Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Sun, 6 Sep 2020 19:50:21 +0200
Subject: [PATCH 29/70] docstring for Color

---
 cadquery/occ_impl/assembly.py | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/cadquery/occ_impl/assembly.py b/cadquery/occ_impl/assembly.py
index c4e7fca33..fe0b38fb0 100644
--- a/cadquery/occ_impl/assembly.py
+++ b/cadquery/occ_impl/assembly.py
@@ -19,10 +19,23 @@ class Color(object):
 
     @overload
     def __init__(self, name: str):
+        """
+        Construct a Color from a name.
+
+        :param name: name of the color, e.g. green
+        """
         ...
 
     @overload
     def __init__(self, r: float, g: float, b: float, a: float = 0):
+        """
+        Construct a Color from RGB(A) values.
+
+        :param r: red value, 0-1
+        :param g: green value, 0-1
+        :param b: blue value, 0-1
+        :param a: alpha value, 0-1 (default: 0)
+        """
         ...
 
     def __init__(self, *args, **kwargs):

From 10b885cbb5c077db7cc9c5082406bdc2addd9f10 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 7 Sep 2020 10:21:13 +0200
Subject: [PATCH 30/70] Additional docstrings

---
 cadquery/assembly.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 7e3b5b0f4..dbec1a611 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -194,6 +194,9 @@ def load(cls, path: str) -> "Assembly":
 
     @property
     def shapes(self) -> List[Shape]:
+        """
+        List of Shape objects in the .obj field
+        """
 
         rv: List[Shape] = []
 
@@ -205,6 +208,9 @@ def shapes(self) -> List[Shape]:
         return rv
 
     def traverse(self) -> Iterator[Tuple[str, "Assembly"]]:
+        """
+        Yield (name, child) pairs in a bottom-up manner
+        """
 
         for ch in self.children:
             for el in ch.traverse():

From e1bedca8fc1006d9aed69026f820235100fd3c74 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 7 Sep 2020 10:22:31 +0200
Subject: [PATCH 31/70] fixed exportCAF file overwriting

NB: app/doc API of OCCT is rather non-intuitive
---
 cadquery/occ_impl/exporters/assembly.py | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/cadquery/occ_impl/exporters/assembly.py b/cadquery/occ_impl/exporters/assembly.py
index 88a0ae9e4..d314d5640 100644
--- a/cadquery/occ_impl/exporters/assembly.py
+++ b/cadquery/occ_impl/exporters/assembly.py
@@ -1,3 +1,5 @@
+import os.path
+
 from OCP.XSControl import XSControl_WorkSession
 from OCP.STEPCAFControl import STEPCAFControl_Writer
 from OCP.STEPControl import STEPControl_StepModelType
@@ -19,9 +21,9 @@ def exportAssembly(assy: AssemblyProtocol, path: str) -> bool:
 
     session = XSControl_WorkSession()
     writer = STEPCAFControl_Writer(session, False)
-    writer.SetNameMode(True)
     writer.SetColorMode(True)
     writer.SetLayerMode(True)
+    writer.SetNameMode(True)
     writer.Transfer(doc, STEPControl_StepModelType.STEPControl_AsIs)
 
     status = writer.Write(path)
@@ -31,6 +33,10 @@ def exportAssembly(assy: AssemblyProtocol, path: str) -> bool:
 
 def exportCAF(assy: AssemblyProtocol, path: str) -> bool:
 
+    folder, fname = os.path.split(path)
+    name, ext = os.path.splitext(fname)
+    ext = ext[1:] if ext[0] == "." else ext
+
     _, doc = toCAF(assy)
     app = XCAFApp_Application.GetApplication_s()
 
@@ -42,11 +48,14 @@ def exportCAF(assy: AssemblyProtocol, path: str) -> bool:
     app.DefineFormat(
         TCollection_AsciiString("XmlOcaf"),
         TCollection_AsciiString("Xml XCAF Document"),
-        TCollection_AsciiString(path.split(".")[-1]),
+        TCollection_AsciiString(ext),
         ret,
         store,
     )
 
+    doc.SetRequestedFolder(TCollection_ExtendedString(folder))
+    doc.SetRequestedName(TCollection_ExtendedString(name))
+
     status = app.SaveAs(doc, TCollection_ExtendedString(path))
 
     app.Close(doc)

From 7e645650de0a81893c94669ff66492b2c614062e Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 7 Sep 2020 11:54:22 +0200
Subject: [PATCH 32/70] Dummy docstring to trigger sphinx inclusion

---
 cadquery/assembly.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index dbec1a611..7446e9f95 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -111,6 +111,9 @@ def add(
         ...
 
     def add(self, arg, **kwargs):
+        """
+        add a subassembly to the current assembly.
+        """
 
         if isinstance(arg, Assembly):
 

From e3caf7b9315e6f8d2990398f709320335258a06b Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 7 Sep 2020 11:54:52 +0200
Subject: [PATCH 33/70] Make cq_directive sphinx 3 compatibile

---
 cadquery/cq_directive.py | 105 +++++++++++++++++++--------------------
 environment.yml          |   2 +-
 2 files changed, 53 insertions(+), 54 deletions(-)

diff --git a/cadquery/cq_directive.py b/cadquery/cq_directive.py
index bfbfc0de0..1722c7d86 100644
--- a/cadquery/cq_directive.py
+++ b/cadquery/cq_directive.py
@@ -4,10 +4,9 @@
 """
 
 import traceback
-from cadquery import *
+from cadquery import exporters
 from cadquery import cqgi
-import io
-from docutils.parsers.rst import directives
+from docutils.parsers.rst import directives, Directive
 
 template = """
 
@@ -23,60 +22,66 @@
 template_content_indent = "      "
 
 
-def cq_directive(
-    name,
-    arguments,
-    options,
-    content,
-    lineno,
-    content_offset,
-    block_text,
-    state,
-    state_machine,
-):
-    # only consider inline snippets
-    plot_code = "\n".join(content)
+class cq_directive(Directive):
 
-    # Since we don't have a filename, use a hash based on the content
-    # the script must define a variable called 'out', which is expected to
-    # be a CQ object
-    out_svg = "Your Script Did not assign call build_output() function!"
+    has_content = True
+    required_arguments = 0
+    optional_arguments = 2
+    option_spec = {
+        "height": directives.length_or_unitless,
+        "width": directives.length_or_percentage_or_unitless,
+        "align": directives.unchanged,
+    }
+
+    def run(self):
+
+        options = self.options
+        content = self.content
+        state_machine = self.state_machine
+
+        # only consider inline snippets
+        plot_code = "\n".join(content)
 
-    try:
-        _s = io.StringIO()
-        result = cqgi.parse(plot_code).build()
+        # Since we don't have a filename, use a hash based on the content
+        # the script must define a variable called 'out', which is expected to
+        # be a CQ object
+        out_svg = "Your Script Did not assign call build_output() function!"
 
-        if result.success:
-            exporters.exportShape(result.first_result.shape, "SVG", _s)
-            out_svg = _s.getvalue()
-        else:
-            raise result.exception
+        try:
+            result = cqgi.parse(plot_code).build()
 
-    except Exception:
-        traceback.print_exc()
-        out_svg = traceback.format_exc()
+            if result.success:
+                out_svg = exporters.getSVG(
+                    exporters.toCompound(result.first_result.shape)
+                )
+            else:
+                raise result.exception
 
-    # now out
-    # Now start generating the lines of output
-    lines = []
+        except Exception:
+            traceback.print_exc()
+            out_svg = traceback.format_exc()
 
-    # get rid of new lines
-    out_svg = out_svg.replace("\n", "")
+        # now out
+        # Now start generating the lines of output
+        lines = []
 
-    txt_align = "left"
-    if "align" in options:
-        txt_align = options["align"]
+        # get rid of new lines
+        out_svg = out_svg.replace("\n", "")
 
-    lines.extend((template % locals()).split("\n"))
+        txt_align = "left"
+        if "align" in options:
+            txt_align = options["align"]
 
-    lines.extend(["::", ""])
-    lines.extend(["    %s" % row.rstrip() for row in plot_code.split("\n")])
-    lines.append("")
+        lines.extend((template % locals()).split("\n"))
 
-    if len(lines):
-        state_machine.insert_input(lines, state_machine.input_lines.source(0))
+        lines.extend(["::", ""])
+        lines.extend(["    %s" % row.rstrip() for row in plot_code.split("\n")])
+        lines.append("")
 
-    return []
+        if len(lines):
+            state_machine.insert_input(lines, state_machine.input_lines.source(0))
+
+        return []
 
 
 def setup(app):
@@ -84,10 +89,4 @@ def setup(app):
     setup.config = app.config
     setup.confdir = app.confdir
 
-    options = {
-        "height": directives.length_or_unitless,
-        "width": directives.length_or_percentage_or_unitless,
-        "align": directives.unchanged,
-    }
-
-    app.add_directive("cq_plot", cq_directive, True, (0, 2, 0), **options)
+    app.add_directive("cq_plot", cq_directive)
diff --git a/environment.yml b/environment.yml
index 3a47d745f..48589bd3c 100644
--- a/environment.yml
+++ b/environment.yml
@@ -8,7 +8,7 @@ dependencies:
   - ipython
   - ocp
   - pyparsing
-  - sphinx=2.4
+  - sphinx=3.2.1
   - sphinx_rtd_theme
   - black
   - codecov

From 3dc54d69e24d6242ea833e45771fcbae49cd56ac Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 7 Sep 2020 12:25:30 +0200
Subject: [PATCH 34/70] Use sphinx_autodoc_typehints

---
 doc/conf.py     | 3 +++
 environment.yml | 1 +
 2 files changed, 4 insertions(+)

diff --git a/doc/conf.py b/doc/conf.py
index 4e8517aa6..a88d97e63 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -35,11 +35,14 @@
 # coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
 extensions = [
     "sphinx.ext.autodoc",
+    "sphinx_autodoc_typehints",
     "sphinx.ext.viewcode",
     "sphinx.ext.autosummary",
     "cadquery.cq_directive",
 ]
 
+always_document_param_types = True
+
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ["_templates"]
 
diff --git a/environment.yml b/environment.yml
index 48589bd3c..4f23c89ed 100644
--- a/environment.yml
+++ b/environment.yml
@@ -10,6 +10,7 @@ dependencies:
   - pyparsing
   - sphinx=3.2.1
   - sphinx_rtd_theme
+  - sphinx-autodoc-typehints
   - black
   - codecov
   - pytest

From e437f97e3637771d7f8e7663dfcb3e795ada7519 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 7 Sep 2020 14:33:45 +0200
Subject: [PATCH 35/70] Initial implementation of constraint adding

---
 cadquery/assembly.py | 56 +++++++++++++++++++++++++++++++++++++++-----
 1 file changed, 50 insertions(+), 6 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 7446e9f95..43cef5e44 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -16,9 +16,18 @@
 
 class Constraint(object):
 
-    objects: Tuple[Shape, ...]
+    objects: Tuple[str, ...]
     args: Tuple[Shape, ...]
     kind: ConstraintKinds
+    
+    def __init__(self, objects: Tuple[str, ...], args: Tuple[Shape, ...], kind: ConstraintKinds):
+        """
+        Construct a constraint.
+        """
+        
+        self.objects = objects
+        self.args = args
+        self.kind = kind
 
 
 class Assembly(object):
@@ -142,9 +151,30 @@ def add(self, arg, **kwargs):
 
         return self
 
-    @overload
-    def constrain(self, query: str) -> "Assembly":
-        ...
+
+    def _query(self, q: str) -> Tuple[str, Optional[Shape]]:
+        """
+        Execute a selector query on the assembly. 
+        The query is expected to be in the following format:
+        
+            name@kind@args
+            
+        for example:
+        
+            obj_name@faces@>Z
+        
+        """
+        
+        name, kind, arg = q.split('@')
+        
+        tmp = Workplane()
+        obj = self.objects[name]
+        
+        if isinstance(obj, (Workplane, Shape)):
+            tmp.add(obj)
+            res = getattr(tmp, kind)(arg)
+        
+        return name, res.val() if isinstance(res.val(), Shape) else None
 
     @overload
     def constrain(self, q1: str, q2: str, kind: ConstraintKinds) -> "Assembly":
@@ -157,8 +187,22 @@ def constrain(
         ...
 
     def constrain(self, *args):
-
-        raise NotImplementedError
+        """
+        Define a new constraint.
+        """
+        
+        if len(args) == 3:
+            q1, q2, kind = args
+            id1, s1 = self._query(q1)
+            id2, s2 = self._query(q2)
+        elif len(args) == 5:
+            id1, s1, id2, s2, kind = args
+        else:
+            raise ValueError(f'Incompatibile arguments: {args}')
+        
+        self.constraints.append(Constraint((id1, id2), (s1, s2), kind))
+        
+        return self
 
     def solve(self) -> "Assembly":
 

From d185e0374a0d7c15c3cde873889962b86804f1cf Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 7 Sep 2020 14:34:04 +0200
Subject: [PATCH 36/70] Minor docstring fix

---
 cadquery/occ_impl/shapes.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/cadquery/occ_impl/shapes.py b/cadquery/occ_impl/shapes.py
index 6adf6aeee..9ce1680a5 100644
--- a/cadquery/occ_impl/shapes.py
+++ b/cadquery/occ_impl/shapes.py
@@ -314,8 +314,7 @@ def fix(obj: TopoDS_Shape) -> TopoDS_Shape:
 
 class Shape(object):
     """
-        Represents a shape in the system.
-        Wrappers the FreeCAD apiSh
+    Represents a shape in the system.Wraps TopoDS_Shape.
     """
 
     wrapped: TopoDS_Shape

From cbe5a74332bc5850d194f77a9b417dbe1e5e08db Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 7 Sep 2020 15:36:28 +0200
Subject: [PATCH 37/70] Import Constraint in the main namespace

---
 cadquery/__init__.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/cadquery/__init__.py b/cadquery/__init__.py
index 691f0326b..d8fc51c4d 100644
--- a/cadquery/__init__.py
+++ b/cadquery/__init__.py
@@ -28,7 +28,7 @@
     Selector,
 )
 from .cq import CQ, Workplane
-from .assembly import Assembly, Color
+from .assembly import Assembly, Color, Constraint
 from . import selectors
 from . import plugins
 
@@ -38,6 +38,7 @@
     "Workplane",
     "Assembly",
     "Color",
+    "Constraint",
     "plugins",
     "selectors",
     "Plane",

From 39c7640a41d69f29faff9f690f89643a2a3896e4 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 7 Sep 2020 15:36:55 +0200
Subject: [PATCH 38/70] Added optional constraint param

---
 cadquery/assembly.py | 22 ++++++++++++++--------
 1 file changed, 14 insertions(+), 8 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 43cef5e44..4a2d6e89c 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -15,12 +15,16 @@
 
 
 class Constraint(object):
+    """
+    Geometrical constraint between two shapes of an assembly.
+    """
 
     objects: Tuple[str, ...]
     args: Tuple[Shape, ...]
     kind: ConstraintKinds
+    param: Any
     
-    def __init__(self, objects: Tuple[str, ...], args: Tuple[Shape, ...], kind: ConstraintKinds):
+    def __init__(self, objects: Tuple[str, ...], args: Tuple[Shape, ...], kind: ConstraintKinds, param: Any = None):
         """
         Construct a constraint.
         """
@@ -28,6 +32,7 @@ def __init__(self, objects: Tuple[str, ...], args: Tuple[Shape, ...], kind: Cons
         self.objects = objects
         self.args = args
         self.kind = kind
+        self.param = param
 
 
 class Assembly(object):
@@ -81,6 +86,7 @@ def __init__(
         self.parent = None
 
         self.children = []
+        self.constraints = []
         self.objects = {self.name: self.obj}
 
     @overload
@@ -177,12 +183,12 @@ def _query(self, q: str) -> Tuple[str, Optional[Shape]]:
         return name, res.val() if isinstance(res.val(), Shape) else None
 
     @overload
-    def constrain(self, q1: str, q2: str, kind: ConstraintKinds) -> "Assembly":
+    def constrain(self, q1: str, q2: str, kind: ConstraintKinds, param: Any=None) -> "Assembly":
         ...
 
     @overload
     def constrain(
-        self, id1: str, s1: Shape, id2: str, s2: Shape, kind: ConstraintKinds
+        self, id1: str, s1: Shape, id2: str, s2: Shape, kind: ConstraintKinds, param: Any=None
     ) -> "Assembly":
         ...
 
@@ -191,16 +197,16 @@ def constrain(self, *args):
         Define a new constraint.
         """
         
-        if len(args) == 3:
-            q1, q2, kind = args
+        if len(args) == 4:
+            q1, q2, kind, param = args
             id1, s1 = self._query(q1)
             id2, s2 = self._query(q2)
-        elif len(args) == 5:
-            id1, s1, id2, s2, kind = args
+        elif len(args) == 6:
+            id1, s1, id2, s2, kind, param = args
         else:
             raise ValueError(f'Incompatibile arguments: {args}')
         
-        self.constraints.append(Constraint((id1, id2), (s1, s2), kind))
+        self.constraints.append(Constraint((id1, id2), (s1, s2), kind, param))
         
         return self
 

From ef9f5af164bce6d6d182ad5d5e2d7ca648ffa03f Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 7 Sep 2020 15:37:13 +0200
Subject: [PATCH 39/70] Doc tweaks

---
 cadquery/occ_impl/assembly.py | 3 +++
 doc/apireference.rst          | 3 +++
 doc/classreference.rst        | 1 +
 3 files changed, 7 insertions(+)

diff --git a/cadquery/occ_impl/assembly.py b/cadquery/occ_impl/assembly.py
index fe0b38fb0..3ba2efa25 100644
--- a/cadquery/occ_impl/assembly.py
+++ b/cadquery/occ_impl/assembly.py
@@ -14,6 +14,9 @@
 
 
 class Color(object):
+    """
+    Wrapper for the OCCT color object Quantity_ColorRGBA.
+    """
 
     wrapped: Quantity_ColorRGBA
 
diff --git a/doc/apireference.rst b/doc/apireference.rst
index d2a3035cc..cd1ea622b 100644
--- a/doc/apireference.rst
+++ b/doc/apireference.rst
@@ -198,3 +198,6 @@ Workplane and Shape objects can be connected together into assemblies
         Assembly
         Assembly.add
         Assembly.save
+        Assembly.constrain
+        Constraint
+        Color
diff --git a/doc/classreference.rst b/doc/classreference.rst
index 58261c45d..83579446a 100644
--- a/doc/classreference.rst
+++ b/doc/classreference.rst
@@ -19,6 +19,7 @@ Core Classes
      CQ
      Workplane
      Assembly
+     Constraint
 
 Topological Classes
 ----------------------

From 3e57e3a32a57bb7712998d83fde27cacbaa1b424 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Tue, 8 Sep 2020 21:57:52 +0200
Subject: [PATCH 40/70] Constraint refactoring

Store sublocation in the case of of a nested object being referred to
---
 cadquery/assembly.py | 119 ++++++++++++++++++++++++++++++++-----------
 1 file changed, 88 insertions(+), 31 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 4a2d6e89c..4e8662402 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -1,4 +1,5 @@
-from typing import Union, Optional, List, Mapping, Any, overload, Tuple, Iterator, cast
+from functools import reduce
+from typing import Union, Optional, List, Dict, Any, overload, Tuple, Iterator, cast
 from typing_extensions import Literal
 from uuid import uuid1 as uuid
 
@@ -21,16 +22,31 @@ class Constraint(object):
 
     objects: Tuple[str, ...]
     args: Tuple[Shape, ...]
+    locs: Tuple[Location, ...]
     kind: ConstraintKinds
     param: Any
-    
-    def __init__(self, objects: Tuple[str, ...], args: Tuple[Shape, ...], kind: ConstraintKinds, param: Any = None):
+
+    def __init__(
+        self,
+        objects: Tuple[str, ...],
+        args: Tuple[Shape, ...],
+        locs: Tuple[Location, ...],
+        kind: ConstraintKinds,
+        param: Any = None,
+    ):
         """
         Construct a constraint.
-        """
         
+        :param objects: object names refernced in the constraint
+        :param args: subshapes (e.g. faces or edges) of the objects
+        :param locs: locations of the objects (only relevant if the objects are nested in a sub-assembly)
+        :param kind: constraint kind
+        :param param: optional arbitrary paramter passed to the solver
+        """
+
         self.objects = objects
         self.args = args
+        self.locs = locs
         self.kind = kind
         self.param = param
 
@@ -42,13 +58,13 @@ class Assembly(object):
     loc: Location
     name: str
     color: Optional[Color]
-    metadata: Mapping[str, Any]
+    metadata: Dict[str, Any]
 
     obj: AssemblyObjects
     parent: Optional["Assembly"]
     children: List["Assembly"]
 
-    objects: Mapping[str, AssemblyObjects]
+    objects: Dict[str, "Assembly"]
     constraints: List[Constraint]
 
     def __init__(
@@ -87,7 +103,24 @@ def __init__(
 
         self.children = []
         self.constraints = []
-        self.objects = {self.name: self.obj}
+        self.objects = {self.name: self}
+
+    def _copy(self) -> "Assembly":
+        """
+        Make a deep copy of an assembly
+        """
+
+        rv = self.__class__(self.obj, self.loc, self.name, self.color)
+
+        for ch in self.children:
+            ch_copy = ch._copy()
+            ch_copy.parent = rv
+
+            rv.children.append(ch_copy)
+            rv.objects[ch_copy.name] = ch_copy
+            rv.objects.update(ch_copy.objects)
+
+        return rv
 
     @overload
     def add(
@@ -132,19 +165,14 @@ def add(self, arg, **kwargs):
 
         if isinstance(arg, Assembly):
 
-            subassy = Assembly(
-                arg.obj,
-                kwargs["loc"] if kwargs.get("loc") else arg.loc,
-                kwargs["name"] if kwargs.get("name") else arg.name,
-                kwargs["color"] if kwargs.get("color") else arg.color,
-            )
+            subassy = arg._copy()
 
-            subassy.children.extend(arg.children)
-            subassy.objects[subassy.name] = subassy.obj
-            subassy.objects.update(arg.objects)
+            subassy.loc = kwargs["loc"] if kwargs.get("loc") else arg.loc
+            subassy.name = kwargs["name"] if kwargs.get("name") else arg.name
+            subassy.color = kwargs["color"] if kwargs.get("color") else arg.color
 
             self.children.append(subassy)
-            self.objects[subassy.name] = subassy.obj
+            self.objects[subassy.name] = subassy
             self.objects.update(subassy.objects)
 
             arg.parent = self
@@ -157,7 +185,6 @@ def add(self, arg, **kwargs):
 
         return self
 
-
     def _query(self, q: str) -> Tuple[str, Optional[Shape]]:
         """
         Execute a selector query on the assembly. 
@@ -170,25 +197,51 @@ def _query(self, q: str) -> Tuple[str, Optional[Shape]]:
             obj_name@faces@>Z
         
         """
-        
-        name, kind, arg = q.split('@')
-        
+
+        name, kind, arg = q.split("@")
+
         tmp = Workplane()
-        obj = self.objects[name]
-        
+        obj = self.objects[name].obj
+
         if isinstance(obj, (Workplane, Shape)):
             tmp.add(obj)
             res = getattr(tmp, kind)(arg)
-        
+
         return name, res.val() if isinstance(res.val(), Shape) else None
 
+    def _subloc(self, name: str) -> Location:
+        """
+        Calculate relative location of an object in a subassembly.
+        """
+
+        rv = Location()
+        obj = self.objects[name]
+
+        if obj not in self.children:
+            locs = []
+            while not obj.parent is self:
+                locs.append(obj.loc)
+                obj = cast(Assembly, obj.parent)
+
+            rv = reduce(lambda l1, l2: l1 * l2, locs)
+
+        return rv
+
     @overload
-    def constrain(self, q1: str, q2: str, kind: ConstraintKinds, param: Any=None) -> "Assembly":
+    def constrain(
+        self, q1: str, q2: str, kind: ConstraintKinds, param: Any = None
+    ) -> "Assembly":
         ...
 
     @overload
     def constrain(
-        self, id1: str, s1: Shape, id2: str, s2: Shape, kind: ConstraintKinds, param: Any=None
+        self,
+        id1: str,
+        s1: Shape,
+        id2: str,
+        s2: Shape,
+        kind: ConstraintKinds,
+        param: Any = None,
     ) -> "Assembly":
         ...
 
@@ -196,7 +249,7 @@ def constrain(self, *args):
         """
         Define a new constraint.
         """
-        
+
         if len(args) == 4:
             q1, q2, kind, param = args
             id1, s1 = self._query(q1)
@@ -204,10 +257,14 @@ def constrain(self, *args):
         elif len(args) == 6:
             id1, s1, id2, s2, kind, param = args
         else:
-            raise ValueError(f'Incompatibile arguments: {args}')
-        
-        self.constraints.append(Constraint((id1, id2), (s1, s2), kind, param))
-        
+            raise ValueError(f"Incompatibile arguments: {args}")
+
+        loc1 = self._subloc(id1)
+        loc2 = self._subloc(id2)
+        self.constraints.append(
+            Constraint((id1, id2), (s1, s2), (loc1, loc2), kind, param)
+        )
+
         return self
 
     def solve(self) -> "Assembly":

From 8fc43ca536513bd69e3edaca88678eaebe5bb492 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 9 Sep 2020 10:59:15 +0200
Subject: [PATCH 41/70] Pin black version for now

---
 .travis.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.travis.yml b/.travis.yml
index e622ef93c..96c6d1143 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -41,6 +41,7 @@ matrix:
     env: PYTHON_VERSION=3.7
     os: linux
     script:
+    - pip install black==19.10b0
     - black . --diff --check
     - mypy cadquery
 

From f53bd441aaff362e3c5f25513208e16519661a94 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 9 Sep 2020 11:36:12 +0200
Subject: [PATCH 42/70] Working colors in STEP export

---
 cadquery/occ_impl/assembly.py           | 17 ++++++++++++++---
 cadquery/occ_impl/exporters/assembly.py |  2 +-
 2 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/cadquery/occ_impl/assembly.py b/cadquery/occ_impl/assembly.py
index 3ba2efa25..2e40f90b0 100644
--- a/cadquery/occ_impl/assembly.py
+++ b/cadquery/occ_impl/assembly.py
@@ -95,7 +95,7 @@ def setColor(l: TDF_Label, color: Color, tool):
     tool.SetColor(l, color.wrapped, XCAFDoc_ColorType.XCAFDoc_ColorSurf)
 
 
-def toCAF(assy: AssemblyProtocol) -> Tuple[TDF_Label, TDocStd_Document]:
+def toCAF(assy: AssemblyProtocol, coloredSTEP: bool = False) -> Tuple[TDF_Label, TDocStd_Document]:
 
     # prepare a doc
     doc = TDocStd_Document(TCollection_ExtendedString("XmlOcaf"))
@@ -119,8 +119,19 @@ def toCAF(assy: AssemblyProtocol) -> Tuple[TDF_Label, TDocStd_Document]:
         subassy = tool.NewShape()
         tool.AddComponent(subassy, lab, TopLoc_Location())
         setName(subassy, k, tool)
-        if v.color:
-            setColor(subassy, v.color, ctool)
+        
+        # handle colors - this logic is needed for proper STEP export
+        color = v.color
+        tmp = v
+        if coloredSTEP:
+            while not color and tmp.parent:
+                tmp = tmp.parent
+                color = tmp.color
+            if color:
+                setColor(lab, color, ctool)
+        else:
+            if color:
+                setColor(subassy, color, ctool)
 
         subassys[k] = (subassy, v.loc)
 
diff --git a/cadquery/occ_impl/exporters/assembly.py b/cadquery/occ_impl/exporters/assembly.py
index d314d5640..146ea6558 100644
--- a/cadquery/occ_impl/exporters/assembly.py
+++ b/cadquery/occ_impl/exporters/assembly.py
@@ -17,7 +17,7 @@
 
 def exportAssembly(assy: AssemblyProtocol, path: str) -> bool:
 
-    _, doc = toCAF(assy)
+    _, doc = toCAF(assy, True)
 
     session = XSControl_WorkSession()
     writer = STEPCAFControl_Writer(session, False)

From c8c21d7d1175b908ab8637835b49f0f1d880cff7 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 9 Sep 2020 11:48:08 +0200
Subject: [PATCH 43/70] Black fix

---
 cadquery/occ_impl/assembly.py |  6 ++++--
 tests/test_cad_objects.py     | 11 +++++++----
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/cadquery/occ_impl/assembly.py b/cadquery/occ_impl/assembly.py
index 2e40f90b0..7884be191 100644
--- a/cadquery/occ_impl/assembly.py
+++ b/cadquery/occ_impl/assembly.py
@@ -95,7 +95,9 @@ def setColor(l: TDF_Label, color: Color, tool):
     tool.SetColor(l, color.wrapped, XCAFDoc_ColorType.XCAFDoc_ColorSurf)
 
 
-def toCAF(assy: AssemblyProtocol, coloredSTEP: bool = False) -> Tuple[TDF_Label, TDocStd_Document]:
+def toCAF(
+    assy: AssemblyProtocol, coloredSTEP: bool = False
+) -> Tuple[TDF_Label, TDocStd_Document]:
 
     # prepare a doc
     doc = TDocStd_Document(TCollection_ExtendedString("XmlOcaf"))
@@ -119,7 +121,7 @@ def toCAF(assy: AssemblyProtocol, coloredSTEP: bool = False) -> Tuple[TDF_Label,
         subassy = tool.NewShape()
         tool.AddComponent(subassy, lab, TopLoc_Location())
         setName(subassy, k, tool)
-        
+
         # handle colors - this logic is needed for proper STEP export
         color = v.color
         tmp = v
diff --git a/tests/test_cad_objects.py b/tests/test_cad_objects.py
index bfa2e22c2..dbba7b172 100644
--- a/tests/test_cad_objects.py
+++ b/tests/test_cad_objects.py
@@ -395,7 +395,7 @@ def testPlaneNotEqual(self):
         )
 
     def testLocation(self):
-        
+
         # Vector
         loc1 = Location(Vector(0, 0, 1))
 
@@ -410,10 +410,13 @@ def testLocation(self):
 
         # gp_Trsf
         T = gp_Trsf()
-        T.SetTranslation(gp_Vec(0,0,1))
+        T.SetTranslation(gp_Vec(0, 0, 1))
         loc3 = Location(T)
-        
-        assert( loc1.wrapped.Transformation().TranslationPart().Z() == loc3.wrapped.Transformation().TranslationPart().Z())
+
+        assert (
+            loc1.wrapped.Transformation().TranslationPart().Z()
+            == loc3.wrapped.Transformation().TranslationPart().Z()
+        )
 
 
 if __name__ == "__main__":

From 1963a65972939673d2677a3a719bb704e15994b3 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 9 Sep 2020 14:24:05 +0200
Subject: [PATCH 44/70] Implemented init

---
 cadquery/occ_impl/solver.py | 23 ++++++++++++++++++++---
 1 file changed, 20 insertions(+), 3 deletions(-)

diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
index b99d08d9a..569b422a2 100644
--- a/cadquery/occ_impl/solver.py
+++ b/cadquery/occ_impl/solver.py
@@ -15,7 +15,7 @@
 
 class ConstraintSolver(object):
 
-    entities: Mapping[int, DOF6]
+    entities: List[DOF6]
     constraints: Mapping[Tuple[int, int], Constraint]
     ne: int
     nc: int
@@ -26,7 +26,24 @@ def __init__(
         constraints: Mapping[Tuple[int, int], Constraint],
     ):
 
-        pass
+        self.entities = [self._locToDOF6(loc) for loc in entities]
+        self.constraints = constraints
+        self.ne = len(entities)
+        self.nc = len(constraints)
+
+    @staticmethod
+    def _locToDOF6(loc: Location) -> DOF6:
+
+        T = loc.wrapped.Transformation()
+        v = T.TranslationPart()
+        q = T.GetRotation()
+
+        alpha_2 = (1 - q.W()) / (1 + q.W())
+        a = (alpha_2 + 1) * q.X() / 2
+        b = (alpha_2 + 1) * q.Y() / 2
+        c = (alpha_2 + 1) * q.Z() / 2
+
+        return (v.X(), v.Y(), v.Z(), a, b, c)
 
     def _jacobianSparsity(self) -> Array[(Any, Any), float]:
 
@@ -82,7 +99,7 @@ def f(x):
 
     def solve(self) -> List[Location]:
 
-        x0 = array([el for el in self.entities.values()]).ravel()
+        x0 = array([el for el in self.entities]).ravel()
 
         res = least_squares(self._cost(), x0, jac_sparsity=self._jacobianSparsity())
         x = res.x

From c15c364da626da172facb3765a74e7f1a3c5cf21 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 9 Sep 2020 14:26:09 +0200
Subject: [PATCH 45/70] Implemented constraint translation to the POD format

---
 cadquery/assembly.py        | 44 +++++++++++++++++++++++++++++++++++--
 cadquery/occ_impl/shapes.py | 22 +++++++++++++++++++
 2 files changed, 64 insertions(+), 2 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 4e8662402..160632011 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -4,9 +4,14 @@
 from uuid import uuid1 as uuid
 
 from .cq import Workplane
-from .occ_impl.shapes import Shape
-from .occ_impl.geom import Location
+from .occ_impl.shapes import Shape, Face, Edge, Wire
+from .occ_impl.geom import Location, Vector
 from .occ_impl.assembly import Color
+from .occ_impl.solver import (
+    ConstraintSolver,
+    ConstraintMarker,
+    Constraint as ConstraintPOD,
+)
 from .occ_impl.exporters.assembly import exportAssembly, exportCAF
 
 
@@ -50,6 +55,41 @@ def __init__(
         self.kind = kind
         self.param = param
 
+    def _getAxis(self, arg: Shape) -> Vector:
+
+        if isinstance(arg, Face):
+            rv = arg.normalAt()
+        elif isinstance(arg, Edge) and arg.geomType() != "CIRCLE":
+            rv = arg.tangentAt()
+        elif isinstance(arg, Edge) and arg.geomType() == "CIRCLE":
+            rv = arg.normal()
+        else:
+            raise ValueError(f"Cannot construct Axis for {arg}")
+
+        return rv
+
+    def toPOD(self) -> ConstraintPOD:
+        """
+        Convert the constraint to a representation used by the solver.
+        """
+
+        rv: List[Tuple[ConstraintMarker, ...]] = []
+
+        for arg, loc in zip(self.args, self.locs):
+
+            arg = arg.moved(loc)
+
+            if self.kind == "Axis":
+                rv.append((self._getAxis(arg).toDir(),))
+            elif self.kind == "Point":
+                rv.append((arg.Center().toPnt(),))
+            elif self.kind == "Plane":
+                rv.append((self._getAxis(arg).toDir(), arg.Center().toPnt()))
+            else:
+                raise ValueError(f"Unknown constraint kind {self.kind}")
+
+        return cast(ConstraintPOD, tuple(rv))
+
 
 class Assembly(object):
     """Nested assembly of Workplane and Shape objects defining their relative positions.
diff --git a/cadquery/occ_impl/shapes.py b/cadquery/occ_impl/shapes.py
index 9ce1680a5..4b4c88aa1 100644
--- a/cadquery/occ_impl/shapes.py
+++ b/cadquery/occ_impl/shapes.py
@@ -977,6 +977,28 @@ def tangentAt(self, locationParam: float = 0.5) -> Vector:
 
         return rv
 
+    def normal(self) -> Vector:
+        """
+        Calculate normal Vector. Only possible for CIRCLE or ELLIPSE
+        
+        :param locationParam: location to use in [0,1]
+        :return: tangent vector
+        """
+
+        curve = self._geomAdaptor()
+        gtype = self.geomType()
+
+        if gtype == "CIRCLE":
+            circ = curve.Circle()
+            rv = Vector(circ.Axis().Direction())
+        elif gtype == "ELLIPSE":
+            ell = curve.Ellipse()
+            rv = Vector(ell.Axis().Direction())
+        else:
+            raise ValueError(f"{gtype} has no normal")
+
+        return rv
+
     def Center(self) -> Vector:
 
         Properties = GProp_GProps()

From 46dd8206ae627d64ff4c52609c8771ccfc40c070 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 9 Sep 2020 14:26:46 +0200
Subject: [PATCH 46/70] Added mising property

---
 cadquery/occ_impl/assembly.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/cadquery/occ_impl/assembly.py b/cadquery/occ_impl/assembly.py
index 7884be191..adb832cda 100644
--- a/cadquery/occ_impl/assembly.py
+++ b/cadquery/occ_impl/assembly.py
@@ -69,6 +69,10 @@ def loc(self) -> Location:
     def name(self) -> str:
         ...
 
+    @property
+    def parent(self) -> Optional["AssemblyProtocol"]:
+        ...
+
     @property
     def color(self) -> Optional[Color]:
         ...

From 146bbe577002805f070737e4eda8c848cc6fa0c2 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 9 Sep 2020 15:29:39 +0200
Subject: [PATCH 47/70] Add nptyping to req

---
 conda/meta.yaml | 1 +
 environment.yml | 1 +
 2 files changed, 2 insertions(+)

diff --git a/conda/meta.yaml b/conda/meta.yaml
index 4d112d681..6b1eb217b 100644
--- a/conda/meta.yaml
+++ b/conda/meta.yaml
@@ -20,6 +20,7 @@ requirements:
     - ezdxf
     - ipython
     - typing_extensions
+    - nptyping
     
 test:
   requires:
diff --git a/environment.yml b/environment.yml
index 1125ad75d..b7a078632 100644
--- a/environment.yml
+++ b/environment.yml
@@ -18,6 +18,7 @@ dependencies:
   - ezdxf
   - ipython
   - typing_extensions
+  - nptyping
   - pip
   - pip:
     - "--editable=."

From e8cba7d05cd367087b808a2dcfdce383850a881a Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 9 Sep 2020 15:45:33 +0200
Subject: [PATCH 48/70] Add scipy to the specs

---
 conda/meta.yaml | 1 +
 environment.yml | 1 +
 2 files changed, 2 insertions(+)

diff --git a/conda/meta.yaml b/conda/meta.yaml
index 6b1eb217b..4e55c5534 100644
--- a/conda/meta.yaml
+++ b/conda/meta.yaml
@@ -21,6 +21,7 @@ requirements:
     - ipython
     - typing_extensions
     - nptyping
+    - scipy
     
 test:
   requires:
diff --git a/environment.yml b/environment.yml
index b7a078632..6c9ceb132 100644
--- a/environment.yml
+++ b/environment.yml
@@ -19,6 +19,7 @@ dependencies:
   - ipython
   - typing_extensions
   - nptyping
+  - scipy
   - pip
   - pip:
     - "--editable=."

From dd863bdbc58dbb29a53b0bb5fe0854591232d07f Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 11 Sep 2020 20:25:48 +0200
Subject: [PATCH 49/70] Added test for normal

---
 tests/test_cadquery.py | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/tests/test_cadquery.py b/tests/test_cadquery.py
index 295a764f3..94b2f6415 100644
--- a/tests/test_cadquery.py
+++ b/tests/test_cadquery.py
@@ -3606,3 +3606,19 @@ def testLocationAt(self):
 
         self.assertAlmostEqual(T3.TranslationPart().X(), r, 6)
         self.assertAlmostEqual(T4.TranslationPart().X(), r, 6)
+
+    def testNormal(self):
+
+        circ = Workplane().circle(1).edges().val()
+        n = circ.normal()
+
+        self.assertTupleAlmostEquals(n.toTuple(), (0, 0, 1), 6)
+
+        ell = Workplane().ellipse(1, 2).edges().val()
+        n = circ.normal()
+
+        self.assertTupleAlmostEquals(n.toTuple(), (0, 0, 1), 6)
+
+        with self.assertRaises(ValueError):
+            edge = Workplane().rect(1, 2).edges().val()
+            n = edge.normal()

From f914815019ff5f9dd5769097fe22270c15475ec4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Adam=20Urba=C5=84czyk?=
 <adam-urbanczyk@users.noreply.github.com>
Date: Fri, 11 Sep 2020 23:54:23 +0200
Subject: [PATCH 50/70] Fixed normal test

---
 tests/test_cadquery.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/test_cadquery.py b/tests/test_cadquery.py
index 94b2f6415..3cbda4d21 100644
--- a/tests/test_cadquery.py
+++ b/tests/test_cadquery.py
@@ -3615,7 +3615,7 @@ def testNormal(self):
         self.assertTupleAlmostEquals(n.toTuple(), (0, 0, 1), 6)
 
         ell = Workplane().ellipse(1, 2).edges().val()
-        n = circ.normal()
+        n = ell.normal()
 
         self.assertTupleAlmostEquals(n.toTuple(), (0, 0, 1), 6)
 

From c5676b619a403af555356c006f1b64ee53fa93f5 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Sun, 13 Sep 2020 17:21:40 +0200
Subject: [PATCH 51/70] First pass on solve()

---
 cadquery/assembly.py | 48 +++++++++++++++++++++++++++++++++++++-------
 1 file changed, 41 insertions(+), 7 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 160632011..7ce1f01fb 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -4,7 +4,7 @@
 from uuid import uuid1 as uuid
 
 from .cq import Workplane
-from .occ_impl.shapes import Shape, Face, Edge, Wire
+from .occ_impl.shapes import Shape, Face, Edge
 from .occ_impl.geom import Location, Vector
 from .occ_impl.assembly import Color
 from .occ_impl.solver import (
@@ -249,23 +249,27 @@ def _query(self, q: str) -> Tuple[str, Optional[Shape]]:
 
         return name, res.val() if isinstance(res.val(), Shape) else None
 
-    def _subloc(self, name: str) -> Location:
+    def _subloc(self, name: str) -> Tuple[Location, str]:
         """
         Calculate relative location of an object in a subassembly.
+        
+        Returns the relative posiitons as well as the name of the top assembly.
         """
 
         rv = Location()
         obj = self.objects[name]
+        name_out = name
 
         if obj not in self.children:
             locs = []
             while not obj.parent is self:
                 locs.append(obj.loc)
                 obj = cast(Assembly, obj.parent)
+                name_out = obj.name
 
             rv = reduce(lambda l1, l2: l1 * l2, locs)
 
-        return rv
+        return (rv, name_out)
 
     @overload
     def constrain(
@@ -299,17 +303,47 @@ def constrain(self, *args):
         else:
             raise ValueError(f"Incompatibile arguments: {args}")
 
-        loc1 = self._subloc(id1)
-        loc2 = self._subloc(id2)
+        loc1, id1_top = self._subloc(id1)
+        loc2, id2_top = self._subloc(id2)
         self.constraints.append(
-            Constraint((id1, id2), (s1, s2), (loc1, loc2), kind, param)
+            Constraint((id1_top, id2_top), (s1, s2), (loc1, loc2), kind, param)
         )
 
         return self
 
     def solve(self) -> "Assembly":
+        """
+        Solve the constraints.
+        """
 
-        raise NotImplementedError
+        # get all entities and number them
+        ents = {}
+
+        i = 0
+        for c in self.constraints:
+            for name in c.objects:
+                if name not in ents:
+                    ents[name] = i
+                    i += 1
+
+        locs = [self.objects[n].loc for n in ents]
+
+        # construct the constraint mapping
+        c_mapping = {}
+        for c in self.constraints:
+            c_mapping[(ents[c.objects[0]], ents[c.objects[1]])] = c.toPOD()
+
+        # instantiate the solver
+        solver = ConstraintSolver(locs, c_mapping)
+
+        # solve
+        locs_new = solver.solve()
+
+        # update positions
+        for loc_new, n in zip(locs_new, ents):
+            self.objects[n].loc = loc_new
+
+        return self
 
     def save(
         self, path: str, exportType: Optional[ExportLiterals] = None

From c3432b6131ebdf3b3ca08a62e5328cbd34091e19 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Sun, 13 Sep 2020 20:38:01 +0200
Subject: [PATCH 52/70] Added tests for constrain and solve

---
 tests/test_assembly.py | 51 +++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 50 insertions(+), 1 deletion(-)

diff --git a/tests/test_assembly.py b/tests/test_assembly.py
index d412d7409..ce949e06b 100644
--- a/tests/test_assembly.py
+++ b/tests/test_assembly.py
@@ -4,6 +4,8 @@
 import cadquery as cq
 from cadquery.occ_impl.exporters.assembly import exportAssembly, exportCAF
 
+from OCP.gp import gp_XYZ
+
 
 @pytest.fixture
 def simple_assy():
@@ -65,6 +67,7 @@ def test_assembly(simple_assy, nested_assy):
 
     assert len(nested_assy.objects) == 3
     assert len(nested_assy.children) == 1
+    assert nested_assy.objects["SECOND"].parent is nested_assy
 
     # bottm-up traversal
     kvs = list(nested_assy.traverse())
@@ -95,7 +98,7 @@ def test_native_export(simple_assy):
     assert os.path.exists("assy.xml")
 
 
-def test_save(simple_assy):
+def test_save(simple_assy, nested_assy):
 
     simple_assy.save("simple.step")
     assert os.path.exists("simple.step")
@@ -117,3 +120,49 @@ def test_save(simple_assy):
 
     with pytest.raises(ValueError):
         simple_assy.save("simple.step", "DXF")
+
+
+def test_constrain(simple_assy, nested_assy):
+
+    subassy1 = simple_assy.children[0]
+    subassy2 = simple_assy.children[1]
+
+    b1 = simple_assy.obj
+    b2 = subassy1.obj
+    b3 = subassy2.obj
+
+    simple_assy.constrain(
+        simple_assy.name, b1.Faces()[0], subassy1.name, b2.faces("<Z").val(), "Plane"
+    )
+    simple_assy.constrain(
+        simple_assy.name, b1.Faces()[0], subassy2.name, b3.faces("<Z").val(), "Axis"
+    )
+    simple_assy.constrain(
+        subassy1.name,
+        b2.faces(">Z").val(),
+        subassy2.name,
+        b3.faces("<Z").val(),
+        "Point",
+    )
+
+    assert len(simple_assy.constraints) == 3
+
+    nested_assy.constrain("TOP@faces@>Z", "BOTTOM@faces@<Z", "Plane")
+
+    assert len(nested_assy.constraints) == 1
+
+    constraint = nested_assy.constraints[0]
+
+    assert constraint.objects == ("TOP", "SECOND")
+    assert (
+        constraint.sublocs[0]
+        .wrapped.Transformation()
+        .TranslationPart()
+        .IsEqual(gp_XYZ(), 1e-9)
+    )
+    assert constraint.sublocs[1].wrapped.IsEqual(
+        nested_assy.objects["BOTTOM"].loc.wrapped
+    )
+
+    simple_assy.solve()
+    nested_assy.solve()

From 577139b9ed9785f9d4f8f4d52fb9886632ed26ab Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Sun, 13 Sep 2020 20:38:19 +0200
Subject: [PATCH 53/70] Fixed failures for constrain

---
 cadquery/assembly.py | 23 ++++++++++++-----------
 1 file changed, 12 insertions(+), 11 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 7ce1f01fb..4eedc9e64 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -27,7 +27,7 @@ class Constraint(object):
 
     objects: Tuple[str, ...]
     args: Tuple[Shape, ...]
-    locs: Tuple[Location, ...]
+    sublocs: Tuple[Location, ...]
     kind: ConstraintKinds
     param: Any
 
@@ -35,7 +35,7 @@ def __init__(
         self,
         objects: Tuple[str, ...],
         args: Tuple[Shape, ...],
-        locs: Tuple[Location, ...],
+        sublocs: Tuple[Location, ...],
         kind: ConstraintKinds,
         param: Any = None,
     ):
@@ -44,14 +44,14 @@ def __init__(
         
         :param objects: object names refernced in the constraint
         :param args: subshapes (e.g. faces or edges) of the objects
-        :param locs: locations of the objects (only relevant if the objects are nested in a sub-assembly)
+        :param sublocs: locations of the objects (only relevant if the objects are nested in a sub-assembly)
         :param kind: constraint kind
         :param param: optional arbitrary paramter passed to the solver
         """
 
         self.objects = objects
         self.args = args
-        self.locs = locs
+        self.sublocs = sublocs
         self.kind = kind
         self.param = param
 
@@ -75,7 +75,7 @@ def toPOD(self) -> ConstraintPOD:
 
         rv: List[Tuple[ConstraintMarker, ...]] = []
 
-        for arg, loc in zip(self.args, self.locs):
+        for arg, loc in zip(self.args, self.sublocs):
 
             arg = arg.moved(loc)
 
@@ -210,6 +210,7 @@ def add(self, arg, **kwargs):
             subassy.loc = kwargs["loc"] if kwargs.get("loc") else arg.loc
             subassy.name = kwargs["name"] if kwargs.get("name") else arg.name
             subassy.color = kwargs["color"] if kwargs.get("color") else arg.color
+            subassy.parent = self
 
             self.children.append(subassy)
             self.objects[subassy.name] = subassy
@@ -260,7 +261,7 @@ def _subloc(self, name: str) -> Tuple[Location, str]:
         obj = self.objects[name]
         name_out = name
 
-        if obj not in self.children:
+        if obj not in self.children and obj is not self:
             locs = []
             while not obj.parent is self:
                 locs.append(obj.loc)
@@ -289,17 +290,17 @@ def constrain(
     ) -> "Assembly":
         ...
 
-    def constrain(self, *args):
+    def constrain(self, *args, param=None):
         """
         Define a new constraint.
         """
 
-        if len(args) == 4:
-            q1, q2, kind, param = args
+        if len(args) == 3:
+            q1, q2, kind = args
             id1, s1 = self._query(q1)
             id2, s2 = self._query(q2)
-        elif len(args) == 6:
-            id1, s1, id2, s2, kind, param = args
+        elif len(args) == 5:
+            id1, s1, id2, s2, kind = args
         else:
             raise ValueError(f"Incompatibile arguments: {args}")
 

From 9c29c32c8ee3aa408bcc9cca65bab153b130f9aa Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Sun, 13 Sep 2020 20:38:26 +0200
Subject: [PATCH 54/70] Fixed solve issues

---
 cadquery/occ_impl/solver.py | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
index 569b422a2..8ae457b16 100644
--- a/cadquery/occ_impl/solver.py
+++ b/cadquery/occ_impl/solver.py
@@ -64,7 +64,12 @@ def _build_transform(
 
         rv.SetTranslation(gp_Vec(x, y, z))
         rv.SetRotation(
-            gp_Quaternion(2 * a / m, 2 * b / m, 2 * c / m, (1 - m) / (m + 1))
+            gp_Quaternion(
+                2 * a / m if m != 0 else 0,
+                2 * b / m if m != 0 else 0,
+                2 * c / m if m != 0 else 0,
+                (1 - m) / (m + 1),
+            )
         )
 
         return rv
@@ -81,13 +86,15 @@ def f(x):
                 self._build_transform(*x[6 * i : 6 * (i + 1)]) for i in range(ne)
             ]
 
-            for i, ((k1, k2), ms1, ms2) in enumerate(constraints.items()):
+            for i, ((k1, k2), (ms1, ms2)) in enumerate(constraints.items()):
                 t1 = transforms[k1]
                 t2 = transforms[k2]
 
                 for m1, m2 in zip(ms1, ms2):
                     if isinstance(m1, gp_Pnt):
-                        rv[i] += (m1.Transformed(t1) - m2.Transformed(t2)).Magnitude()
+                        rv[i] += (
+                            m1.Transformed(t1).XYZ() - m2.Transformed(t2).XYZ()
+                        ).Modulus()
                     elif isinstance(m1, gp_Dir):
                         rv[i] += m1.Transformed(t1) * m2.Transformed(t2)
                     else:

From 2cad05215b653ebcca433a637a51020bb8277a73 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Tue, 15 Sep 2020 17:57:15 +0200
Subject: [PATCH 55/70] Reworked the solver

---
 cadquery/assembly.py        |  9 ++--
 cadquery/occ_impl/solver.py | 94 +++++++++++++++++++++++++++----------
 2 files changed, 75 insertions(+), 28 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 4eedc9e64..5cbb7ed3a 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -321,21 +321,24 @@ def solve(self) -> "Assembly":
         ents = {}
 
         i = 0
+        lock_ix = 0
         for c in self.constraints:
             for name in c.objects:
                 if name not in ents:
                     ents[name] = i
+                    if name == self.name:
+                        lock_ix = i
                     i += 1
 
         locs = [self.objects[n].loc for n in ents]
 
         # construct the constraint mapping
-        c_mapping = {}
+        constraints = []
         for c in self.constraints:
-            c_mapping[(ents[c.objects[0]], ents[c.objects[1]])] = c.toPOD()
+            constraints.append(((ents[c.objects[0]], ents[c.objects[1]]), c.toPOD()))
 
         # instantiate the solver
-        solver = ConstraintSolver(locs, c_mapping)
+        solver = ConstraintSolver(locs, constraints, locked=[lock_ix])
 
         # solve
         locs_new = solver.solve()
diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
index 8ae457b16..7e6520f15 100644
--- a/cadquery/occ_impl/solver.py
+++ b/cadquery/occ_impl/solver.py
@@ -1,7 +1,8 @@
-from typing import Tuple, Mapping, Union, Any, Callable, List
+from typing import Tuple, Union, Any, Callable, List, Optional
 from nptyping import NDArray as Array
 
-from numpy import zeros, array
+from numpy import zeros, array, full, inf
+
 from scipy.optimize import least_squares
 
 from OCP.gp import gp_Vec, gp_Dir, gp_Pnt, gp_Trsf, gp_Quaternion
@@ -10,26 +11,42 @@
 
 DOF6 = Tuple[float, float, float, float, float, float]
 ConstraintMarker = Union[gp_Dir, gp_Pnt]
-Constraint = Tuple[Tuple[ConstraintMarker, ...], Tuple[ConstraintMarker, ...]]
+Constraint = Tuple[Tuple[ConstraintMarker, ...], Tuple[Optional[ConstraintMarker], ...]]
+
+NDOF = 6
 
 
 class ConstraintSolver(object):
 
     entities: List[DOF6]
-    constraints: Mapping[Tuple[int, int], Constraint]
+    constraints: List[Tuple[Tuple[int, Optional[int]], Constraint]]
+    locked: List[int]
     ne: int
     nc: int
 
     def __init__(
         self,
         entities: List[Location],
-        constraints: Mapping[Tuple[int, int], Constraint],
+        constraints: List[Tuple[Tuple[int, int], Constraint]],
+        locked: List[int] = [],
     ):
 
         self.entities = [self._locToDOF6(loc) for loc in entities]
-        self.constraints = constraints
+        self.constraints = []
+
+        # decompose inot simple constraints
+        for k, v in constraints:
+            e1, e2 = v
+            if e2:
+                for m1, m2 in zip(e1, e2):
+                    self.constraints.append((k, ((m1,), (m2,))))
+            else:
+                for m1 in e1:
+                    self.constraints.append((k, ((m1,), (None,))))
+
         self.ne = len(entities)
-        self.nc = len(constraints)
+        self.locked = locked
+        self.nc = len(self.constraints)
 
     @staticmethod
     def _locToDOF6(loc: Location) -> DOF6:
@@ -47,11 +64,17 @@ def _locToDOF6(loc: Location) -> DOF6:
 
     def _jacobianSparsity(self) -> Array[(Any, Any), float]:
 
-        rv = zeros((self.nc, 6 * self.ne))
+        rv = zeros((self.nc, NDOF * self.ne))
+
+        for i, ((k1, k2), ((m1,), (m2,))) in enumerate(self.constraints):
 
-        for i, (k1, k2) in enumerate(self.constraints):
-            rv[i, 6 * k1 : 6 * (k1 + 1)] = 1
-            rv[i, 6 * k2 : 6 * (k2 + 1)] = 1
+            k1_active = 1 if k1 not in self.locked else 0
+            k2_active = 1 if k2 not in self.locked else 0
+
+            rv[i, NDOF * k1 : NDOF * (k1 + 1)] = k1_active
+
+            if k2:
+                rv[i, NDOF * k2 : NDOF * (k2 + 1)] = k2_active
 
         return rv
 
@@ -62,16 +85,14 @@ def _build_transform(
         rv = gp_Trsf()
         m = a ** 2 + b ** 2 + c ** 2
 
-        rv.SetTranslation(gp_Vec(x, y, z))
         rv.SetRotation(
             gp_Quaternion(
-                2 * a / m if m != 0 else 0,
-                2 * b / m if m != 0 else 0,
-                2 * c / m if m != 0 else 0,
-                (1 - m) / (m + 1),
+                2 * a / (m + 1), 2 * b / (m + 1), 2 * c / (m + 1), (1 - m) / (m + 1),
             )
         )
 
+        rv.SetTranslationPart(gp_Vec(x, y, z))
+
         return rv
 
     def _cost(self) -> Callable[[Array[(Any,), float]], Array[(Any,), float]]:
@@ -82,13 +103,14 @@ def f(x):
             ne = self.ne
 
             rv = zeros(nc)
+
             transforms = [
-                self._build_transform(*x[6 * i : 6 * (i + 1)]) for i in range(ne)
+                self._build_transform(*x[NDOF * i : NDOF * (i + 1)]) for i in range(ne)
             ]
 
-            for i, ((k1, k2), (ms1, ms2)) in enumerate(constraints.items()):
-                t1 = transforms[k1]
-                t2 = transforms[k2]
+            for i, ((k1, k2), (ms1, ms2)) in enumerate(constraints):
+                t1 = transforms[k1] if k1 not in self.locked else gp_Trsf()
+                t2 = transforms[k2] if k2 not in self.locked else gp_Trsf()
 
                 for m1, m2 in zip(ms1, ms2):
                     if isinstance(m1, gp_Pnt):
@@ -96,22 +118,44 @@ def f(x):
                             m1.Transformed(t1).XYZ() - m2.Transformed(t2).XYZ()
                         ).Modulus()
                     elif isinstance(m1, gp_Dir):
-                        rv[i] += m1.Transformed(t1) * m2.Transformed(t2)
+                        rv[i] += m1.Transformed(t1).Angle(m2.Transformed(t2))
                     else:
-                        raise NotImplementedError
+                        raise NotImplementedError(f"{m1,m2}")
 
             return rv
 
         return f
 
+    def _bounds(self) -> Tuple[Array[(Any,), float], Array[(Any,), float]]:
+
+        bmin = full((NDOF * self.ne,), -inf)
+        bmax = full((NDOF * self.ne,), +inf)
+
+        for i in self.locked:
+            bmin[NDOF * i : (NDOF * i + NDOF)] = self.entities[i]
+            bmax[NDOF * i : (NDOF * i + NDOF)] = (
+                bmin[NDOF * i : (NDOF * i + NDOF)] + 1e-9
+            )
+
+        return bmin, bmax
+
     def solve(self) -> List[Location]:
 
         x0 = array([el for el in self.entities]).ravel()
-
-        res = least_squares(self._cost(), x0, jac_sparsity=self._jacobianSparsity())
+        res = least_squares(
+            self._cost(),
+            x0,
+            jac="2-point",
+            jac_sparsity=self._jacobianSparsity(),
+            method="dogbox",
+            ftol=None,
+            gtol=1e-6,
+            xtol=None,
+            verbose=2,
+        )
         x = res.x
 
         return [
-            Location(self._build_transform(*x[6 * i : 6 * (i + 1)]))
+            Location(self._build_transform(*x[NDOF * i : NDOF * (i + 1)]))
             for i in range(self.ne)
         ]

From 824a635fe54698524301e3e654ed99bb6223fb07 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 16 Sep 2020 22:24:25 +0200
Subject: [PATCH 56/70] Different subloc handling

---
 cadquery/assembly.py        | 2 +-
 cadquery/occ_impl/shapes.py | 7 +++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 5cbb7ed3a..6e98efa83 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -77,7 +77,7 @@ def toPOD(self) -> ConstraintPOD:
 
         for arg, loc in zip(self.args, self.sublocs):
 
-            arg = arg.moved(loc)
+            arg = arg.located(loc * arg.location())
 
             if self.kind == "Axis":
                 rv.append((self._getAxis(arg).toDir(),))
diff --git a/cadquery/occ_impl/shapes.py b/cadquery/occ_impl/shapes.py
index 4b4c88aa1..55b293063 100644
--- a/cadquery/occ_impl/shapes.py
+++ b/cadquery/occ_impl/shapes.py
@@ -694,6 +694,13 @@ def transformGeometry(self, tMatrix: Matrix) -> "Shape":
 
         return r
 
+    def location(self) -> Location:
+        """
+        Return the current location
+        """
+
+        return Location(self.wrapped.Location())
+
     def locate(self, loc: Location) -> "Shape":
         """
         Apply a location in absolute sense to self

From 17c8f1de4fdb8b4b2cd1eb7299a021fe80ba3b9e Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 16 Sep 2020 22:25:13 +0200
Subject: [PATCH 57/70] Simplified the solver and switched to BFGS

---
 cadquery/occ_impl/solver.py | 61 +++++++++----------------------------
 1 file changed, 14 insertions(+), 47 deletions(-)

diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
index 7e6520f15..e2187425c 100644
--- a/cadquery/occ_impl/solver.py
+++ b/cadquery/occ_impl/solver.py
@@ -1,9 +1,8 @@
 from typing import Tuple, Union, Any, Callable, List, Optional
 from nptyping import NDArray as Array
 
-from numpy import zeros, array, full, inf
-
-from scipy.optimize import least_squares
+from numpy import array
+from scipy.optimize import minimize
 
 from OCP.gp import gp_Vec, gp_Dir, gp_Pnt, gp_Trsf, gp_Quaternion
 
@@ -34,7 +33,7 @@ def __init__(
         self.entities = [self._locToDOF6(loc) for loc in entities]
         self.constraints = []
 
-        # decompose inot simple constraints
+        # decompose into simple constraints
         for k, v in constraints:
             e1, e2 = v
             if e2:
@@ -62,22 +61,6 @@ def _locToDOF6(loc: Location) -> DOF6:
 
         return (v.X(), v.Y(), v.Z(), a, b, c)
 
-    def _jacobianSparsity(self) -> Array[(Any, Any), float]:
-
-        rv = zeros((self.nc, NDOF * self.ne))
-
-        for i, ((k1, k2), ((m1,), (m2,))) in enumerate(self.constraints):
-
-            k1_active = 1 if k1 not in self.locked else 0
-            k2_active = 1 if k2 not in self.locked else 0
-
-            rv[i, NDOF * k1 : NDOF * (k1 + 1)] = k1_active
-
-            if k2:
-                rv[i, NDOF * k2 : NDOF * (k2 + 1)] = k2_active
-
-        return rv
-
     def _build_transform(
         self, x: float, y: float, z: float, a: float, b: float, c: float
     ) -> gp_Trsf:
@@ -95,14 +78,13 @@ def _build_transform(
 
         return rv
 
-    def _cost(self) -> Callable[[Array[(Any,), float]], Array[(Any,), float]]:
+    def _cost(self) -> Callable[[Array[(Any,), float]], float]:
         def f(x):
 
             constraints = self.constraints
-            nc = self.nc
             ne = self.ne
 
-            rv = zeros(nc)
+            rv = 0
 
             transforms = [
                 self._build_transform(*x[NDOF * i : NDOF * (i + 1)]) for i in range(ne)
@@ -114,11 +96,11 @@ def f(x):
 
                 for m1, m2 in zip(ms1, ms2):
                     if isinstance(m1, gp_Pnt):
-                        rv[i] += (
+                        rv += (
                             m1.Transformed(t1).XYZ() - m2.Transformed(t2).XYZ()
-                        ).Modulus()
+                        ).Modulus() ** 2
                     elif isinstance(m1, gp_Dir):
-                        rv[i] += m1.Transformed(t1).Angle(m2.Transformed(t2))
+                        rv += (-1 - m1.Transformed(t1).Dot(m2.Transformed(t2))) ** 2
                     else:
                         raise NotImplementedError(f"{m1,m2}")
 
@@ -126,34 +108,19 @@ def f(x):
 
         return f
 
-    def _bounds(self) -> Tuple[Array[(Any,), float], Array[(Any,), float]]:
-
-        bmin = full((NDOF * self.ne,), -inf)
-        bmax = full((NDOF * self.ne,), +inf)
-
-        for i in self.locked:
-            bmin[NDOF * i : (NDOF * i + NDOF)] = self.entities[i]
-            bmax[NDOF * i : (NDOF * i + NDOF)] = (
-                bmin[NDOF * i : (NDOF * i + NDOF)] + 1e-9
-            )
-
-        return bmin, bmax
-
     def solve(self) -> List[Location]:
 
         x0 = array([el for el in self.entities]).ravel()
-        res = least_squares(
+
+        res = minimize(
             self._cost(),
             x0,
-            jac="2-point",
-            jac_sparsity=self._jacobianSparsity(),
-            method="dogbox",
-            ftol=None,
-            gtol=1e-6,
-            xtol=None,
-            verbose=2,
+            method="BFGS",
+            options=dict(disp=True, ftol=1e-6, maxiter=500),
         )
+
         x = res.x
+        print(res.message)
 
         return [
             Location(self._build_transform(*x[NDOF * i : NDOF * (i + 1)]))

From e01b2415211f8a3076aa84a7727d7f599720854c Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Mon, 21 Sep 2020 08:16:46 +0200
Subject: [PATCH 58/70] Another solver tweak

---
 cadquery/occ_impl/solver.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
index e2187425c..573f8ee66 100644
--- a/cadquery/occ_impl/solver.py
+++ b/cadquery/occ_impl/solver.py
@@ -115,8 +115,8 @@ def solve(self) -> List[Location]:
         res = minimize(
             self._cost(),
             x0,
-            method="BFGS",
-            options=dict(disp=True, ftol=1e-6, maxiter=500),
+            method="L-BFGS-B",
+            options=dict(disp=True, ftol=1e-9, maxiter=1000),
         )
 
         x = res.x

From f4150b62d34e6c5bd9d1faca6157e112465b1eb5 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Thu, 24 Sep 2020 22:27:47 +0200
Subject: [PATCH 59/70] Major rework of the solver

* numerical jacobian by hand taking into account the sparsity pattern
* better code structure
* scaling of the dir constraint
---
 cadquery/occ_impl/solver.py | 93 +++++++++++++++++++++++++++++++++----
 1 file changed, 85 insertions(+), 8 deletions(-)

diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
index 573f8ee66..d50004db2 100644
--- a/cadquery/occ_impl/solver.py
+++ b/cadquery/occ_impl/solver.py
@@ -1,7 +1,7 @@
 from typing import Tuple, Union, Any, Callable, List, Optional
 from nptyping import NDArray as Array
 
-from numpy import array
+from numpy import array, eye, zeros
 from scipy.optimize import minimize
 
 from OCP.gp import gp_Vec, gp_Dir, gp_Pnt, gp_Trsf, gp_Quaternion
@@ -13,6 +13,8 @@
 Constraint = Tuple[Tuple[ConstraintMarker, ...], Tuple[Optional[ConstraintMarker], ...]]
 
 NDOF = 6
+DIR_SCALING = 1e3
+DIFF_EPS = 1e-8
 
 
 class ConstraintSolver(object):
@@ -78,7 +80,22 @@ def _build_transform(
 
         return rv
 
-    def _cost(self) -> Callable[[Array[(Any,), float]], float]:
+    def _cost(
+        self,
+    ) -> Tuple[
+        Callable[[Array[(Any,), float]], float],
+        Callable[[Array[(Any,), float]], Array[(Any,), float]],
+    ]:
+        def pt_cost(m1: gp_Pnt, m2: gp_Pnt, t1: gp_Trsf, t2: gp_Trsf) -> float:
+
+            return (m1.Transformed(t1).XYZ() - m2.Transformed(t2).XYZ()).SquareModulus()
+
+        def dir_cost(
+            m1: gp_Dir, m2: gp_Dir, t1: gp_Trsf, t2: gp_Trsf, val: float = -1
+        ) -> float:
+
+            return DIR_SCALING * (val - m1.Transformed(t1).Dot(m2.Transformed(t2))) ** 2
+
         def f(x):
 
             constraints = self.constraints
@@ -96,25 +113,85 @@ def f(x):
 
                 for m1, m2 in zip(ms1, ms2):
                     if isinstance(m1, gp_Pnt):
-                        rv += (
-                            m1.Transformed(t1).XYZ() - m2.Transformed(t2).XYZ()
-                        ).Modulus() ** 2
+                        rv += pt_cost(m1, m2, t1, t2)
+                    elif isinstance(m1, gp_Dir):
+                        rv += dir_cost(m1, m2, t1, t2)
+                    else:
+                        raise NotImplementedError(f"{m1,m2}")
+
+            return rv
+
+        def jac(x):
+
+            constraints = self.constraints
+            ne = self.ne
+
+            delta = DIFF_EPS * eye(NDOF)
+
+            rv = zeros(NDOF * ne)
+
+            transforms = [
+                self._build_transform(*x[NDOF * i : NDOF * (i + 1)]) for i in range(ne)
+            ]
+
+            transforms_delta = [
+                self._build_transform(*(x[NDOF * i : NDOF * (i + 1)] + delta[j, :]))
+                for i in range(ne)
+                for j in range(NDOF)
+            ]
+
+            for i, ((k1, k2), (ms1, ms2)) in enumerate(constraints):
+                t1 = transforms[k1] if k1 not in self.locked else gp_Trsf()
+                t2 = transforms[k2] if k2 not in self.locked else gp_Trsf()
+
+                for m1, m2 in zip(ms1, ms2):
+                    if isinstance(m1, gp_Pnt):
+                        tmp = pt_cost(m1, m2, t1, t2)
+
+                        for j in range(NDOF):
+
+                            t1j = transforms_delta[k1 * NDOF + j]
+                            t2j = transforms_delta[k2 * NDOF + j]
+
+                            if k1 not in self.locked:
+                                tmp1 = pt_cost(m1, m2, t1j, t2)
+                                rv[k1 * NDOF + j] += (tmp1 - tmp) / DIFF_EPS
+
+                            if k2 not in self.locked:
+                                tmp2 = pt_cost(m1, m2, t1, t2j)
+                                rv[k2 * NDOF + j] += (tmp2 - tmp) / DIFF_EPS
+
                     elif isinstance(m1, gp_Dir):
-                        rv += (-1 - m1.Transformed(t1).Dot(m2.Transformed(t2))) ** 2
+                        tmp = dir_cost(m1, m2, t1, t2)
+
+                        for j in range(NDOF):
+
+                            t1j = transforms_delta[k1 * NDOF + j]
+                            t2j = transforms_delta[k2 * NDOF + j]
+
+                            if k1 not in self.locked:
+                                tmp1 = dir_cost(m1, m2, t1j, t2)
+                                rv[k1 * NDOF + j] += (tmp1 - tmp) / DIFF_EPS
+
+                            if k2 not in self.locked:
+                                tmp2 = dir_cost(m1, m2, t1, t2j)
+                                rv[k2 * NDOF + j] += (tmp2 - tmp) / DIFF_EPS
                     else:
                         raise NotImplementedError(f"{m1,m2}")
 
             return rv
 
-        return f
+        return f, jac
 
     def solve(self) -> List[Location]:
 
         x0 = array([el for el in self.entities]).ravel()
+        f, jac = self._cost()
 
         res = minimize(
-            self._cost(),
+            f,
             x0,
+            jac=jac,
             method="L-BFGS-B",
             options=dict(disp=True, ftol=1e-9, maxiter=1000),
         )

From e3cb80cbcd0e5c34c5dd8df3ac1017d209e45ca3 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 25 Sep 2020 08:57:05 +0200
Subject: [PATCH 60/70] Tighter ftol

---
 cadquery/occ_impl/solver.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
index d50004db2..77e31a12c 100644
--- a/cadquery/occ_impl/solver.py
+++ b/cadquery/occ_impl/solver.py
@@ -193,7 +193,7 @@ def solve(self) -> List[Location]:
             x0,
             jac=jac,
             method="L-BFGS-B",
-            options=dict(disp=True, ftol=1e-9, maxiter=1000),
+            options=dict(disp=True, ftol=1e-14, maxiter=1000),
         )
 
         x = res.x

From b6484959edabfaa95c3bd39dddfd89de6b1010f3 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 25 Sep 2020 08:57:24 +0200
Subject: [PATCH 61/70] Better assy.solve() test

---
 tests/test_assembly.py | 24 +++++++++++++++++++++++-
 1 file changed, 23 insertions(+), 1 deletion(-)

diff --git a/tests/test_assembly.py b/tests/test_assembly.py
index ce949e06b..28220d97f 100644
--- a/tests/test_assembly.py
+++ b/tests/test_assembly.py
@@ -148,8 +148,9 @@ def test_constrain(simple_assy, nested_assy):
     assert len(simple_assy.constraints) == 3
 
     nested_assy.constrain("TOP@faces@>Z", "BOTTOM@faces@<Z", "Plane")
+    nested_assy.constrain("TOP@faces@>X", "BOTTOM@faces@<X", "Axis")
 
-    assert len(nested_assy.constraints) == 1
+    assert len(nested_assy.constraints) == 2
 
     constraint = nested_assy.constraints[0]
 
@@ -165,4 +166,25 @@ def test_constrain(simple_assy, nested_assy):
     )
 
     simple_assy.solve()
+
+    assert (
+        simple_assy.loc.wrapped.Transformation()
+        .TranslationPart()
+        .IsEqual(gp_XYZ(2, -5, 0), 1e-9)
+    )
+
+    assert (
+        simple_assy.children[0]
+        .loc.wrapped.Transformation()
+        .TranslationPart()
+        .IsEqual(gp_XYZ(-1, 0.5, 0.5), 5e-3)
+    )
+
     nested_assy.solve()
+
+    assert (
+        nested_assy.children[0]
+        .loc.wrapped.Transformation()
+        .TranslationPart()
+        .IsEqual(gp_XYZ(2, -4, 0.75), 5e-3)
+    )

From a24d6bf50235198905203f73482b0fb206fb0cef Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Fri, 25 Sep 2020 18:43:05 +0200
Subject: [PATCH 62/70] Relaxed test criteria

---
 tests/test_assembly.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/test_assembly.py b/tests/test_assembly.py
index 28220d97f..a2b0c0e89 100644
--- a/tests/test_assembly.py
+++ b/tests/test_assembly.py
@@ -177,7 +177,7 @@ def test_constrain(simple_assy, nested_assy):
         simple_assy.children[0]
         .loc.wrapped.Transformation()
         .TranslationPart()
-        .IsEqual(gp_XYZ(-1, 0.5, 0.5), 5e-3)
+        .IsEqual(gp_XYZ(-1, 0.5, 0.5), 1e-2)
     )
 
     nested_assy.solve()
@@ -186,5 +186,5 @@ def test_constrain(simple_assy, nested_assy):
         nested_assy.children[0]
         .loc.wrapped.Transformation()
         .TranslationPart()
-        .IsEqual(gp_XYZ(2, -4, 0.75), 5e-3)
+        .IsEqual(gp_XYZ(2, -4, 0.75), 1e-2)
     )

From 90ce94e21410e8c206ae14b6eab4e1d673fb7eb0 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Sat, 26 Sep 2020 20:44:09 +0200
Subject: [PATCH 63/70] Changed the cost to use Angle nad added LSQ cost for
 experiments

---
 cadquery/occ_impl/solver.py | 129 +++++++++++++++++++++++++++++++++---
 1 file changed, 120 insertions(+), 9 deletions(-)

diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
index 77e31a12c..547da45fe 100644
--- a/cadquery/occ_impl/solver.py
+++ b/cadquery/occ_impl/solver.py
@@ -1,8 +1,8 @@
 from typing import Tuple, Union, Any, Callable, List, Optional
 from nptyping import NDArray as Array
 
-from numpy import array, eye, zeros
-from scipy.optimize import minimize
+from numpy import array, eye, zeros, pi
+from scipy.optimize import minimize, least_squares
 
 from OCP.gp import gp_Vec, gp_Dir, gp_Pnt, gp_Trsf, gp_Quaternion
 
@@ -13,8 +13,8 @@
 Constraint = Tuple[Tuple[ConstraintMarker, ...], Tuple[Optional[ConstraintMarker], ...]]
 
 NDOF = 6
-DIR_SCALING = 1e3
-DIFF_EPS = 1e-8
+DIR_SCALING = 1e4
+DIFF_EPS = 1e-9
 
 
 class ConstraintSolver(object):
@@ -91,10 +91,12 @@ def pt_cost(m1: gp_Pnt, m2: gp_Pnt, t1: gp_Trsf, t2: gp_Trsf) -> float:
             return (m1.Transformed(t1).XYZ() - m2.Transformed(t2).XYZ()).SquareModulus()
 
         def dir_cost(
-            m1: gp_Dir, m2: gp_Dir, t1: gp_Trsf, t2: gp_Trsf, val: float = -1
+            m1: gp_Dir, m2: gp_Dir, t1: gp_Trsf, t2: gp_Trsf, val: float = pi
         ) -> float:
 
-            return DIR_SCALING * (val - m1.Transformed(t1).Dot(m2.Transformed(t2))) ** 2
+            return (
+                DIR_SCALING * (val - m1.Transformed(t1).Angle(m2.Transformed(t2))) ** 2
+            )
 
         def f(x):
 
@@ -183,6 +185,116 @@ def jac(x):
 
         return f, jac
 
+    def _costlsq(
+        self,
+    ) -> Tuple[
+        Callable[[Array[(Any,), float]], Array[(Any,), float]],
+        Callable[[Array[(Any,), float]], Array[(Any, Any), float]],
+    ]:
+        def pt_cost(m1: gp_Pnt, m2: gp_Pnt, t1: gp_Trsf, t2: gp_Trsf) -> float:
+
+            return (m1.Transformed(t1).XYZ() - m2.Transformed(t2).XYZ()).Modulus()
+
+        def dir_cost(
+            m1: gp_Dir, m2: gp_Dir, t1: gp_Trsf, t2: gp_Trsf, val: float = pi
+        ) -> float:
+
+            return val - m1.Transformed(t1).Angle(m2.Transformed(t2))
+
+        def f(x):
+
+            constraints = self.constraints
+            ne = self.ne
+            nc = self.nc
+
+            rv = zeros(nc + ne * NDOF)
+
+            transforms = [
+                self._build_transform(*x[NDOF * i : NDOF * (i + 1)]) for i in range(ne)
+            ]
+
+            for i, ((k1, k2), (ms1, ms2)) in enumerate(constraints):
+                t1 = transforms[k1] if k1 not in self.locked else gp_Trsf()
+                t2 = transforms[k2] if k2 not in self.locked else gp_Trsf()
+
+                for m1, m2 in zip(ms1, ms2):
+                    if isinstance(m1, gp_Pnt):
+                        rv[i] += pt_cost(m1, m2, t1, t2)
+                    elif isinstance(m1, gp_Dir):
+                        rv[i] += dir_cost(m1, m2, t1, t2)
+                    else:
+                        raise NotImplementedError(f"{m1,m2}")
+
+            rv[nc:] = 1e-9 * x ** 2
+
+            return rv
+
+        def jac(x):
+
+            constraints = self.constraints
+            ne = self.ne
+            nc = self.nc
+
+            delta = DIFF_EPS * eye(NDOF)
+
+            rv = zeros((nc + NDOF * ne, NDOF * ne))
+
+            transforms = [
+                self._build_transform(*x[NDOF * i : NDOF * (i + 1)]) for i in range(ne)
+            ]
+
+            transforms_delta = [
+                self._build_transform(*(x[NDOF * i : NDOF * (i + 1)] + delta[j, :]))
+                for i in range(ne)
+                for j in range(NDOF)
+            ]
+
+            for i, ((k1, k2), (ms1, ms2)) in enumerate(constraints):
+                t1 = transforms[k1] if k1 not in self.locked else gp_Trsf()
+                t2 = transforms[k2] if k2 not in self.locked else gp_Trsf()
+
+                for m1, m2 in zip(ms1, ms2):
+                    if isinstance(m1, gp_Pnt):
+                        tmp = pt_cost(m1, m2, t1, t2)
+
+                        for j in range(NDOF):
+
+                            t1j = transforms_delta[k1 * NDOF + j]
+                            t2j = transforms_delta[k2 * NDOF + j]
+
+                            if k1 not in self.locked:
+                                tmp1 = pt_cost(m1, m2, t1j, t2)
+                                rv[i, k1 * NDOF + j] += (tmp1 - tmp) / DIFF_EPS
+
+                            if k2 not in self.locked:
+                                tmp2 = pt_cost(m1, m2, t1, t2j)
+                                rv[i, k2 * NDOF + j] += (tmp2 - tmp) / DIFF_EPS
+
+                    elif isinstance(m1, gp_Dir):
+                        tmp = dir_cost(m1, m2, t1, t2)
+
+                        for j in range(NDOF):
+
+                            t1j = transforms_delta[k1 * NDOF + j]
+                            t2j = transforms_delta[k2 * NDOF + j]
+
+                            if k1 not in self.locked:
+                                tmp1 = dir_cost(m1, m2, t1j, t2)
+                                rv[i, k1 * NDOF + j] += (tmp1 - tmp) / DIFF_EPS
+
+                            if k2 not in self.locked:
+                                tmp2 = dir_cost(m1, m2, t1, t2j)
+                                rv[i, k2 * NDOF + j] += (tmp2 - tmp) / DIFF_EPS
+                    else:
+                        raise NotImplementedError(f"{m1,m2}")
+
+            for i in range(NDOF * ne):
+                rv[nc + i, i] = 1e-9
+
+            return rv
+
+        return f, jac
+
     def solve(self) -> List[Location]:
 
         x0 = array([el for el in self.entities]).ravel()
@@ -192,12 +304,11 @@ def solve(self) -> List[Location]:
             f,
             x0,
             jac=jac,
-            method="L-BFGS-B",
-            options=dict(disp=True, ftol=1e-14, maxiter=1000),
+            method="BFGS",
+            options=dict(disp=True, ftol=1e-12, maxiter=1000),
         )
 
         x = res.x
-        print(res.message)
 
         return [
             Location(self._build_transform(*x[NDOF * i : NDOF * (i + 1)]))

From 2625e21a1944fe50de4943a5e694ae7df2917685 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Sat, 26 Sep 2020 20:45:22 +0200
Subject: [PATCH 64/70] Tighter tolerances on the solve

---
 tests/test_assembly.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/test_assembly.py b/tests/test_assembly.py
index a2b0c0e89..7c54949f5 100644
--- a/tests/test_assembly.py
+++ b/tests/test_assembly.py
@@ -177,7 +177,7 @@ def test_constrain(simple_assy, nested_assy):
         simple_assy.children[0]
         .loc.wrapped.Transformation()
         .TranslationPart()
-        .IsEqual(gp_XYZ(-1, 0.5, 0.5), 1e-2)
+        .IsEqual(gp_XYZ(-1, 0.5, 0.5), 1e-6)
     )
 
     nested_assy.solve()
@@ -186,5 +186,5 @@ def test_constrain(simple_assy, nested_assy):
         nested_assy.children[0]
         .loc.wrapped.Transformation()
         .TranslationPart()
-        .IsEqual(gp_XYZ(2, -4, 0.75), 1e-2)
+        .IsEqual(gp_XYZ(2, -4, 0.75), 1e-6)
     )

From 012b1d6cce9359fccd3b80e2010b44ad6045b775 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Tue, 29 Sep 2020 18:24:21 +0200
Subject: [PATCH 65/70] Parameter handling

---
 cadquery/assembly.py        |   8 ++
 cadquery/occ_impl/solver.py | 171 +++++++++---------------------------
 2 files changed, 48 insertions(+), 131 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 6e98efa83..56dd12914 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -88,6 +88,8 @@ def toPOD(self) -> ConstraintPOD:
             else:
                 raise ValueError(f"Unknown constraint kind {self.kind}")
 
+        rv.append(self.param)
+
         return cast(ConstraintPOD, tuple(rv))
 
 
@@ -299,8 +301,14 @@ def constrain(self, *args, param=None):
             q1, q2, kind = args
             id1, s1 = self._query(q1)
             id2, s2 = self._query(q2)
+        elif len(args) == 4:
+            q1, q2, kind, param = args
+            id1, s1 = self._query(q1)
+            id2, s2 = self._query(q2)
         elif len(args) == 5:
             id1, s1, id2, s2, kind = args
+        elif len(args) == 6:
+            id1, s1, id2, s2, kind, param = args
         else:
             raise ValueError(f"Incompatibile arguments: {args}")
 
diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
index 547da45fe..64c78e8d7 100644
--- a/cadquery/occ_impl/solver.py
+++ b/cadquery/occ_impl/solver.py
@@ -2,7 +2,7 @@
 from nptyping import NDArray as Array
 
 from numpy import array, eye, zeros, pi
-from scipy.optimize import minimize, least_squares
+from scipy.optimize import minimize
 
 from OCP.gp import gp_Vec, gp_Dir, gp_Pnt, gp_Trsf, gp_Quaternion
 
@@ -10,7 +10,9 @@
 
 DOF6 = Tuple[float, float, float, float, float, float]
 ConstraintMarker = Union[gp_Dir, gp_Pnt]
-Constraint = Tuple[Tuple[ConstraintMarker, ...], Tuple[Optional[ConstraintMarker], ...]]
+Constraint = Tuple[
+    Tuple[ConstraintMarker, ...], Tuple[Optional[ConstraintMarker], ...], Optional[Any]
+]
 
 NDOF = 6
 DIR_SCALING = 1e4
@@ -37,13 +39,14 @@ def __init__(
 
         # decompose into simple constraints
         for k, v in constraints:
-            e1, e2 = v
-            if e2:
-                for m1, m2 in zip(e1, e2):
-                    self.constraints.append((k, ((m1,), (m2,))))
+            ms1, ms2, d = v
+            if ms2:
+                for m1, m2 in zip(ms1, ms2):
+                    self.constraints.append((k, ((m1,), (m2,), d)))
             else:
-                for m1 in e1:
-                    self.constraints.append((k, ((m1,), (None,))))
+                raise NotImplementedError(
+                    "Single marker constraints are not implemented"
+                )
 
         self.ne = len(entities)
         self.locked = locked
@@ -86,14 +89,30 @@ def _cost(
         Callable[[Array[(Any,), float]], float],
         Callable[[Array[(Any,), float]], Array[(Any,), float]],
     ]:
-        def pt_cost(m1: gp_Pnt, m2: gp_Pnt, t1: gp_Trsf, t2: gp_Trsf) -> float:
+        def pt_cost(
+            m1: gp_Pnt,
+            m2: gp_Pnt,
+            t1: gp_Trsf,
+            t2: gp_Trsf,
+            val: Optional[float] = None,
+        ) -> float:
+
+            val = 0 if val is None else val
 
-            return (m1.Transformed(t1).XYZ() - m2.Transformed(t2).XYZ()).SquareModulus()
+            return (
+                val - (m1.Transformed(t1).XYZ() - m2.Transformed(t2).XYZ()).Modulus()
+            ) ** 2
 
         def dir_cost(
-            m1: gp_Dir, m2: gp_Dir, t1: gp_Trsf, t2: gp_Trsf, val: float = pi
+            m1: gp_Dir,
+            m2: gp_Dir,
+            t1: gp_Trsf,
+            t2: gp_Trsf,
+            val: Optional[float] = None,
         ) -> float:
 
+            val = pi if val is None else val
+
             return (
                 DIR_SCALING * (val - m1.Transformed(t1).Angle(m2.Transformed(t2))) ** 2
             )
@@ -109,15 +128,15 @@ def f(x):
                 self._build_transform(*x[NDOF * i : NDOF * (i + 1)]) for i in range(ne)
             ]
 
-            for i, ((k1, k2), (ms1, ms2)) in enumerate(constraints):
+            for i, ((k1, k2), (ms1, ms2, d)) in enumerate(constraints):
                 t1 = transforms[k1] if k1 not in self.locked else gp_Trsf()
                 t2 = transforms[k2] if k2 not in self.locked else gp_Trsf()
 
                 for m1, m2 in zip(ms1, ms2):
                     if isinstance(m1, gp_Pnt):
-                        rv += pt_cost(m1, m2, t1, t2)
+                        rv += pt_cost(m1, m2, t1, t2, d)
                     elif isinstance(m1, gp_Dir):
-                        rv += dir_cost(m1, m2, t1, t2)
+                        rv += dir_cost(m1, m2, t1, t2, d)
                     else:
                         raise NotImplementedError(f"{m1,m2}")
 
@@ -142,13 +161,13 @@ def jac(x):
                 for j in range(NDOF)
             ]
 
-            for i, ((k1, k2), (ms1, ms2)) in enumerate(constraints):
+            for i, ((k1, k2), (ms1, ms2, d)) in enumerate(constraints):
                 t1 = transforms[k1] if k1 not in self.locked else gp_Trsf()
                 t2 = transforms[k2] if k2 not in self.locked else gp_Trsf()
 
                 for m1, m2 in zip(ms1, ms2):
                     if isinstance(m1, gp_Pnt):
-                        tmp = pt_cost(m1, m2, t1, t2)
+                        tmp = pt_cost(m1, m2, t1, t2, d)
 
                         for j in range(NDOF):
 
@@ -156,15 +175,15 @@ def jac(x):
                             t2j = transforms_delta[k2 * NDOF + j]
 
                             if k1 not in self.locked:
-                                tmp1 = pt_cost(m1, m2, t1j, t2)
+                                tmp1 = pt_cost(m1, m2, t1j, t2, d)
                                 rv[k1 * NDOF + j] += (tmp1 - tmp) / DIFF_EPS
 
                             if k2 not in self.locked:
-                                tmp2 = pt_cost(m1, m2, t1, t2j)
+                                tmp2 = pt_cost(m1, m2, t1, t2j, d)
                                 rv[k2 * NDOF + j] += (tmp2 - tmp) / DIFF_EPS
 
                     elif isinstance(m1, gp_Dir):
-                        tmp = dir_cost(m1, m2, t1, t2)
+                        tmp = dir_cost(m1, m2, t1, t2, d)
 
                         for j in range(NDOF):
 
@@ -172,11 +191,11 @@ def jac(x):
                             t2j = transforms_delta[k2 * NDOF + j]
 
                             if k1 not in self.locked:
-                                tmp1 = dir_cost(m1, m2, t1j, t2)
+                                tmp1 = dir_cost(m1, m2, t1j, t2, d)
                                 rv[k1 * NDOF + j] += (tmp1 - tmp) / DIFF_EPS
 
                             if k2 not in self.locked:
-                                tmp2 = dir_cost(m1, m2, t1, t2j)
+                                tmp2 = dir_cost(m1, m2, t1, t2j, d)
                                 rv[k2 * NDOF + j] += (tmp2 - tmp) / DIFF_EPS
                     else:
                         raise NotImplementedError(f"{m1,m2}")
@@ -185,116 +204,6 @@ def jac(x):
 
         return f, jac
 
-    def _costlsq(
-        self,
-    ) -> Tuple[
-        Callable[[Array[(Any,), float]], Array[(Any,), float]],
-        Callable[[Array[(Any,), float]], Array[(Any, Any), float]],
-    ]:
-        def pt_cost(m1: gp_Pnt, m2: gp_Pnt, t1: gp_Trsf, t2: gp_Trsf) -> float:
-
-            return (m1.Transformed(t1).XYZ() - m2.Transformed(t2).XYZ()).Modulus()
-
-        def dir_cost(
-            m1: gp_Dir, m2: gp_Dir, t1: gp_Trsf, t2: gp_Trsf, val: float = pi
-        ) -> float:
-
-            return val - m1.Transformed(t1).Angle(m2.Transformed(t2))
-
-        def f(x):
-
-            constraints = self.constraints
-            ne = self.ne
-            nc = self.nc
-
-            rv = zeros(nc + ne * NDOF)
-
-            transforms = [
-                self._build_transform(*x[NDOF * i : NDOF * (i + 1)]) for i in range(ne)
-            ]
-
-            for i, ((k1, k2), (ms1, ms2)) in enumerate(constraints):
-                t1 = transforms[k1] if k1 not in self.locked else gp_Trsf()
-                t2 = transforms[k2] if k2 not in self.locked else gp_Trsf()
-
-                for m1, m2 in zip(ms1, ms2):
-                    if isinstance(m1, gp_Pnt):
-                        rv[i] += pt_cost(m1, m2, t1, t2)
-                    elif isinstance(m1, gp_Dir):
-                        rv[i] += dir_cost(m1, m2, t1, t2)
-                    else:
-                        raise NotImplementedError(f"{m1,m2}")
-
-            rv[nc:] = 1e-9 * x ** 2
-
-            return rv
-
-        def jac(x):
-
-            constraints = self.constraints
-            ne = self.ne
-            nc = self.nc
-
-            delta = DIFF_EPS * eye(NDOF)
-
-            rv = zeros((nc + NDOF * ne, NDOF * ne))
-
-            transforms = [
-                self._build_transform(*x[NDOF * i : NDOF * (i + 1)]) for i in range(ne)
-            ]
-
-            transforms_delta = [
-                self._build_transform(*(x[NDOF * i : NDOF * (i + 1)] + delta[j, :]))
-                for i in range(ne)
-                for j in range(NDOF)
-            ]
-
-            for i, ((k1, k2), (ms1, ms2)) in enumerate(constraints):
-                t1 = transforms[k1] if k1 not in self.locked else gp_Trsf()
-                t2 = transforms[k2] if k2 not in self.locked else gp_Trsf()
-
-                for m1, m2 in zip(ms1, ms2):
-                    if isinstance(m1, gp_Pnt):
-                        tmp = pt_cost(m1, m2, t1, t2)
-
-                        for j in range(NDOF):
-
-                            t1j = transforms_delta[k1 * NDOF + j]
-                            t2j = transforms_delta[k2 * NDOF + j]
-
-                            if k1 not in self.locked:
-                                tmp1 = pt_cost(m1, m2, t1j, t2)
-                                rv[i, k1 * NDOF + j] += (tmp1 - tmp) / DIFF_EPS
-
-                            if k2 not in self.locked:
-                                tmp2 = pt_cost(m1, m2, t1, t2j)
-                                rv[i, k2 * NDOF + j] += (tmp2 - tmp) / DIFF_EPS
-
-                    elif isinstance(m1, gp_Dir):
-                        tmp = dir_cost(m1, m2, t1, t2)
-
-                        for j in range(NDOF):
-
-                            t1j = transforms_delta[k1 * NDOF + j]
-                            t2j = transforms_delta[k2 * NDOF + j]
-
-                            if k1 not in self.locked:
-                                tmp1 = dir_cost(m1, m2, t1j, t2)
-                                rv[i, k1 * NDOF + j] += (tmp1 - tmp) / DIFF_EPS
-
-                            if k2 not in self.locked:
-                                tmp2 = dir_cost(m1, m2, t1, t2j)
-                                rv[i, k2 * NDOF + j] += (tmp2 - tmp) / DIFF_EPS
-                    else:
-                        raise NotImplementedError(f"{m1,m2}")
-
-            for i in range(NDOF * ne):
-                rv[nc + i, i] = 1e-9
-
-            return rv
-
-        return f, jac
-
     def solve(self) -> List[Location]:
 
         x0 = array([el for el in self.entities]).ravel()

From 43e8377eb35323dc24b23b81f7a47b62e1a4a651 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 30 Sep 2020 18:18:40 +0200
Subject: [PATCH 66/70] Docs update

---
 doc/_static/assy.png        | Bin 0 -> 139192 bytes
 doc/_static/simple_assy.png | Bin 0 -> 21577 bytes
 doc/extending.rst           |  24 ++++++++++++------------
 doc/intro.rst               |   7 +++----
 doc/primer.rst              |  30 ++++++++++++++++++++++--------
 5 files changed, 37 insertions(+), 24 deletions(-)
 create mode 100644 doc/_static/assy.png
 create mode 100644 doc/_static/simple_assy.png

diff --git a/doc/_static/assy.png b/doc/_static/assy.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ee52dba5c463769e7ba51459f7f73890324dc68
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diff --git a/doc/extending.rst b/doc/extending.rst
index e31185f14..dc9279de3 100644
--- a/doc/extending.rst
+++ b/doc/extending.rst
@@ -9,14 +9,14 @@ methods:
 
    * You can load plugins others have developed. This is by far the easiest way to access other code
    * You can define your own plugins.
-   * You can use PythonOCC scripting directly
+   * You can use OCP scripting directly
 
 
-Using PythonOCC Script
------------------------
+Using OpenCascade methods
+-------------------------
 
-The easiest way to extend CadQuery is to simply use PythonOCC scripting inside of your build method.  Just about
-any valid PythonOCC script will execute just fine. For example, this simple CadQuery script::
+The easiest way to extend CadQuery is to simply use OpenCascade/OCP scripting inside of your build method.  Just about
+any valid OCP script will execute just fine. For example, this simple CadQuery script::
 
     return cq.Workplane("XY").box(1.0,2.0,3.0).val()
 
@@ -24,8 +24,8 @@ is actually equivalent to::
 
     return cq.Shape.cast(BRepPrimAPI_MakeBox(gp_Ax2(Vector(-0.1, -1.0, -1.5), Vector(0, 0, 1)), 1.0, 2.0, 3.0).Shape())
 
-As long as you return a valid PythonOCC Shape, you can use any PythonOCC methods you like. You can even mix and match the
-two. For example, consider this script, which creates a PythonOCC box, but then uses CadQuery to select its faces::
+As long as you return a valid OCP Shape, you can use any OCP methods you like. You can even mix and match the
+two. For example, consider this script, which creates a OCP box, but then uses CadQuery to select its faces::
 
     box = cq.Shape.cast(BRepPrimAPI_MakeBox(gp_Ax2(Vector(-0.1, -1.0, -1.5), Vector(0, 0, 1)), 1.0, 2.0, 3.0).Shape())
     cq = Workplane(box).faces(">Z").size() # returns 6
@@ -34,10 +34,10 @@ two. For example, consider this script, which creates a PythonOCC box, but then
 Extending CadQuery: Plugins
 ----------------------------
 
-Though you can get a lot done with PythonOCC, the code gets pretty nasty in a hurry. CadQuery shields you from
-a lot of the complexity of the PythonOCC API.
+Though you can get a lot done with OpenCascade, the code gets pretty nasty in a hurry. CadQuery shields you from
+a lot of the complexity of the OpenCascade API.
 
-You can get the best of both worlds by wrapping your PythonOCC script into a CadQuery plugin.
+You can get the best of both worlds by wrapping your OCP script into a CadQuery plugin.
 
 A CadQuery plugin is simply a function that is attached to the CadQuery :py:meth:`cadquery.CQ` or :py:meth:`cadquery.Workplane` class.
 When connected, your plugin can be used in the chain just like the built-in functions.
@@ -51,8 +51,8 @@ The Stack
 Every CadQuery object has a local stack, which contains a list of items.  The items on the stack will be
 one of these types:
 
-   * **A CadQuery SolidReference object**, which holds a reference to a PythonOCC solid
-   * **A PythonOCC object**, a Vertex, Edge, Wire, Face, Shell, Solid, or Compound
+   * **A CadQuery SolidReference object**, which holds a reference to a OCP solid
+   * **A OCP object**, a Vertex, Edge, Wire, Face, Shell, Solid, or Compound
 
 The stack is available by using self.objects, and will always contain at least one object.
 
diff --git a/doc/intro.rst b/doc/intro.rst
index 22dde7d9f..5bb6642d1 100644
--- a/doc/intro.rst
+++ b/doc/intro.rst
@@ -19,7 +19,7 @@ CadQuery is an intuitive, easy-to-use Python library for building parametric 3D
     * Provide a non-proprietary, plain text model format that can be edited and executed with only a web browser
 
 CadQuery 2.0 is based on
-`PythonOCC <http://www.pythonocc.org/>`_,
+`OCP https://github.com/CadQuery/OCP`_,
 which is a set of Python bindings for the open-source `OpenCascade <http://www.opencascade.com/>`_ modelling kernel.
 
 Using CadQuery, you can build fully parametric models with a very small amount of code. For example, this simple script
@@ -54,8 +54,7 @@ its use in a variety of engineering and scientific applications that create 3D m
 If you'd like a GUI, you have a couple of options:
 
    * The Qt-based GUI `CQ-editor <https://github.com/CadQuery/CQ-editor>`_
-   * As an Jupyter extension `cadquery-jupyter-extension
- <https://github.com/bernhard-42/cadquery-jupyter-extension>`_
+   * As an Jupyter extension `jupyter-cadquery <https://github.com/bernhard-42/jupyter-cadquery>`_
 
 
 Why CadQuery instead of OpenSCAD?
@@ -70,7 +69,7 @@ Like OpenSCAD, CadQuery is an open-source, script based, parametric model genera
        by OCC include NURBS, splines, surface sewing, STL repair, STEP import/export,  and other complex operations,
        in addition to the standard CSG operations supported by CGAL
 
-    3. **Ability to import/export STEP** We think the ability to begin with a STEP model, created in a CAD package,
+    3. **Ability to import/export STEP and DXF** We think the ability to begin with a STEP model, created in a CAD package,
        and then add parametric features is key.  This is possible in OpenSCAD using STL, but STL is a lossy format
 
     4. **Less Code and easier scripting**  CadQuery scripts require less code to create most objects, because it is possible to locate
diff --git a/doc/primer.rst b/doc/primer.rst
index 4c6c5875d..44f960cba 100644
--- a/doc/primer.rst
+++ b/doc/primer.rst
@@ -168,16 +168,30 @@ This is really useful to remember  when you author your own plugins. :py:meth:`c
 Assemblies
 ----------
 
-Simple models can be combined into complex, possibly nested, assemblies::
+Simple models can be combined into complex, possibly nested, assemblies.
 
-    part1 = Workplane().box(1,1,1)
-    part2 = Workplane().box(1,1,2)
-    part3 = Workplane().box(1,1,3)
+..  image:: _static/assy.png
+
+A simple example could look as follows::
+
+    from cadquery import *
+    
+    w = 10
+    d = 10
+    h = 10
+    
+    part1 = Workplane().box(2*w,2*d,h)
+    part2 = Workplane().box(w,d,2*h)
+    part3 = Workplane().box(w,d,3*h)
     
     assy = (
-        Assembly(part1, Location((1,0,0)))
-        .add(part2, Location(1,0,0))
-        .add(part3, Location(-1,0,0))
+        Assembly(part1, loc=Location(Vector(-w,0,h/2)))
+        .add(part2, loc=Location(Vector(1.5*w,-.5*d,h/2)), color=Color(0,0,1,0.5))
+        .add(part3, loc=Location(Vector(-.5*w,-.5*d,2*h)), color=Color("red"))
     )
 
-Note that the locations of the children parts are defined with respect to their parents - in the above example ``part3`` will be located at (0,0,0) in the global coordinate system.
+Resulting in:
+
+..  image:: _static/simple_assy.png
+
+Note that the locations of the children parts are defined with respect to their parents - in the above example ``part3`` will be located at (-5,-5,20) in the global coordinate system. Assemblies with different colors can be created this way and exported to STEP or the native OCCT xml format.

From a170cb0df6c4f7dc9ff392b07c29c85df61f53cb Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 30 Sep 2020 18:25:21 +0200
Subject: [PATCH 67/70] ftol --> gtol

---
 cadquery/occ_impl/solver.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cadquery/occ_impl/solver.py b/cadquery/occ_impl/solver.py
index 64c78e8d7..66961c06d 100644
--- a/cadquery/occ_impl/solver.py
+++ b/cadquery/occ_impl/solver.py
@@ -214,7 +214,7 @@ def solve(self) -> List[Location]:
             x0,
             jac=jac,
             method="BFGS",
-            options=dict(disp=True, ftol=1e-12, maxiter=1000),
+            options=dict(disp=True, gtol=1e-12, maxiter=1000),
         )
 
         x = res.x

From ba7830d40561c8fd44b087f316438c2b09c84004 Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Wed, 30 Sep 2020 18:31:48 +0200
Subject: [PATCH 68/70] Do not touch the original parent

---
 cadquery/assembly.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index 56dd12914..d7ef37f66 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -218,8 +218,6 @@ def add(self, arg, **kwargs):
             self.objects[subassy.name] = subassy
             self.objects.update(subassy.objects)
 
-            arg.parent = self
-
         else:
             assy = Assembly(arg, **kwargs)
             assy.parent = self

From 8f62fc54ddb8cb40069f0a711688c822c5ec645f Mon Sep 17 00:00:00 2001
From: adam-urbanczyk <adam.jan.urbanczyk@gmail.com>
Date: Thu, 1 Oct 2020 08:33:03 +0200
Subject: [PATCH 69/70] Review fixes

---
 cadquery/assembly.py        | 4 ++--
 cadquery/occ_impl/shapes.py | 2 +-
 mypy.ini                    | 2 +-
 tests/test_assembly.py      | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/cadquery/assembly.py b/cadquery/assembly.py
index d7ef37f66..c895260fb 100644
--- a/cadquery/assembly.py
+++ b/cadquery/assembly.py
@@ -126,11 +126,11 @@ def __init__(
         :return: An Assembly object.
         
         
-        To create an empt assembly use::
+        To create an empty assembly use::
             
             assy = Assembly(None)
             
-        To create one containt a root object::
+        To create one constraint a root object::
             
             b = Workplane().box(1,1,1)
             assy = Assembly(b, Location(Vector(0,0,1)), name="root")
diff --git a/cadquery/occ_impl/shapes.py b/cadquery/occ_impl/shapes.py
index 55b293063..67d3f8687 100644
--- a/cadquery/occ_impl/shapes.py
+++ b/cadquery/occ_impl/shapes.py
@@ -314,7 +314,7 @@ def fix(obj: TopoDS_Shape) -> TopoDS_Shape:
 
 class Shape(object):
     """
-    Represents a shape in the system.Wraps TopoDS_Shape.
+    Represents a shape in the system. Wraps TopoDS_Shape.
     """
 
     wrapped: TopoDS_Shape
diff --git a/mypy.ini b/mypy.ini
index e6ede69d8..9eb662b60 100644
--- a/mypy.ini
+++ b/mypy.ini
@@ -17,4 +17,4 @@ ignore_missing_imports = True
 ignore_missing_imports = True
 
 [mypy-nptyping.*]
-ignore_missing_imports = True
\ No newline at end of file
+ignore_missing_imports = True
diff --git a/tests/test_assembly.py b/tests/test_assembly.py
index 7c54949f5..5c9e39128 100644
--- a/tests/test_assembly.py
+++ b/tests/test_assembly.py
@@ -69,7 +69,7 @@ def test_assembly(simple_assy, nested_assy):
     assert len(nested_assy.children) == 1
     assert nested_assy.objects["SECOND"].parent is nested_assy
 
-    # bottm-up traversal
+    # bottom-up traversal
     kvs = list(nested_assy.traverse())
 
     assert kvs[0][0] == "BOTTOM"

From 21f7f481616cadaa253527c0936ed313bf8eba47 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Adam=20Urba=C5=84czyk?=
 <adam-urbanczyk@users.noreply.github.com>
Date: Thu, 1 Oct 2020 08:52:03 +0200
Subject: [PATCH 70/70] Mention assemblies in the README

---
 README.md | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/README.md b/README.md
index 3f6d887a0..a3f15ba02 100644
--- a/README.md
+++ b/README.md
@@ -27,6 +27,7 @@ CadQuery is often compared to [OpenSCAD](http://www.openscad.org/). Like OpenSCA
 * Output high quality (loss-less) CAD formats like STEP and DXF in addition to STL and AMF.
 * Provide a non-proprietary, plain text model format that can be edited and executed with only a web browser.
 * Offer advanced modeling capabilities such as fillets, curvelinear extrudes, parametric curves and lofts.
+* Build nested assemblies out of individual parts and other assemblies.
 
 ### Why this fork
 
@@ -101,6 +102,12 @@ Thanks to @easyw for this example from the [kicad-3d-models-in-freecad project](
 
 <img src="http://dcowden.github.io/cadquery/_static/KiCad_Capacitors_SMD.jpg" alt="Circuit board generated in KiCAD" width="400"/>
 
+### Spindle assembly
+
+Thanks to @marcus7070 for this example from [here](https://github.com/marcus7070/spindle-assy-example). 
+
+<img src="./doc/_static/assy.png" width="400">
+
 ### 3D Printed Resin Mold
 
 Thanks to @eddieliberato for this example.