Fixed multiple ball mates sharing the same parent.

neurobionics · Dec 12, 2024 · 6558091 · 6558091
1 parent 2780393
commit 6558091
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/onshape_api/graph.py b/onshape_api/graph.py
@@ -36,7 +36,7 @@ def plot_graph(graph: Union[nx.Graph, nx.DiGraph], file_name: Optional[str] = No
     """
     colors = [f"#{random.randint(0, 0xFFFFFF):06x}" for _ in range(len(graph.nodes))]  # noqa: S311
     plt.figure(figsize=(8, 8))
-    pos = nx.spring_layout(graph)
+    pos = nx.shell_layout(graph)
 
     if file_name:
         nx.draw(

diff --git a/onshape_api/urdf.py b/onshape_api/urdf.py
@@ -254,10 +254,10 @@ def get_robot_joint(
 
     elif mate.mateType == MateType.BALL:
         dummy_x = Link(
-            name=f"{parent}-dummy-x",
+            name=f"{parent}-{mate.name}-x",
         )
         dummy_y = Link(
-            name=f"{parent}-dummy-y",
+            name=f"{parent}-{mate.name}-y",
         )
 
         links = [dummy_x, dummy_y]