Added some changes to example scripts and docs.

neurobionics · Dec 19, 2024 · 80a8186 · 80a8186
1 parent 12f3b9a
commit 80a8186
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Showing 4 changed files with 35 additions and 36 deletions.
diff --git a/docs/api/robot.md b/docs/api/robot.md
@@ -1,3 +1,3 @@
 # Robot
 
-::: onshape_api.models.robot
+::: onshape_api.robot
diff --git a/examples/simulation/main.py b/examples/simulation/main.py
@@ -6,7 +6,9 @@
 from scipy.spatial.transform import Rotation
 from transformations import compute_motor_torques
 
+from onshape_api.connect import Client
 from onshape_api.log import LOGGER, LogLevel
+from onshape_api.robot import Robot
 
 # from onshape_api.robot import RobotType, get_robot
 from onshape_api.utilities import save_gif
@@ -113,37 +115,34 @@ def get_mujoco_element():
     # )
     # ballbot.show()
 
-    # client = Client()
-    # ballbot = Robot.from_url(
-    #     name="ballbot",
-    #     url="https://cad.onshape.com/documents/1f42f849180e6e5c9abfce52/w/0c00b6520fac5fada24b2104/e/c96b40ef586e60c182f41d29",
-    #     client=client,
-    #     max_depth=0,
-    #     use_user_defined_root=True,
-    # )
-    # ballbot.show_tree()
-
-    # mujoco_attributes = {
-    #     "compiler": DEFAULT_COMPILER_ATTRIBUTES,
-    #     "option": DEFAULT_OPTION_ATTRIBUTES,
-    # }
+    client = Client()
+    ballbot = Robot.from_url(
+        name="ballbot",
+        url="https://cad.onshape.com/documents/1f42f849180e6e5c9abfce52/w/0c00b6520fac5fada24b2104/e/c96b40ef586e60c182f41d29",
+        client=client,
+        max_depth=0,
+        use_user_defined_root=True,
+    )
+    ballbot.show_tree()
 
-    # custom_element = get_mujoco_element()
-    # ballbot.add_custom_element(parent_name="root", element=custom_element)
+    mujoco_attributes = {
+        "compiler": DEFAULT_COMPILER_ATTRIBUTES,
+        "option": DEFAULT_OPTION_ATTRIBUTES,
+    }
 
-    # ballbot.save(file_path="ballbot.urdf")
+    custom_element = get_mujoco_element()
+    ballbot.add_custom_element(parent_name="root", element=custom_element)
 
-    spec = mujoco.MjSpec.from_xml_path(filename="ballbot.urdf")
+    ballbot.save(file_path="ballbot.urdf")
 
-    # data = mujoco.MjData(model)
+    model = mujoco.MjModel.from_xml_path(filename="ballbot.urdf")
+    data = mujoco.MjData(model)
 
-    # # # run_simulation(model, data, 20, 60)
+    mujoco.mj_resetData(model, data)
 
-    # mujoco.mj_resetData(model, data)
-
-    # with mujoco.viewer.launch_passive(model, data) as viewer:
-    #     while viewer.is_running():
-    #         mujoco.mj_step(model, data)
-    #         mujoco.mj_forward(model, data)
+    with mujoco.viewer.launch_passive(model, data) as viewer:
+        while viewer.is_running():
+            mujoco.mj_step(model, data)
+            mujoco.mj_forward(model, data)
 
-    #         viewer.sync()
+            viewer.sync()
diff --git a/mkdocs.yml b/mkdocs.yml
@@ -23,13 +23,13 @@ nav:
           - Joint: api/joint.md
           - Link: api/link.md
           - Mass: api/mass.md
-          - Robot: api/robot.md
           - Variable: api/variable.md
       - Connect: api/connect.md
       - Graph: api/graph.md
       - Log: api/log.md
       - Mesh: api/mesh.md
       - Parse: api/parse.md
+      - Robot: api/robot.md
       - Urdf: api/urdf.md
       - Utilities: api/utilities.md
 

diff --git a/pyproject.toml b/pyproject.toml
@@ -45,13 +45,13 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.mypy]
 files = ["onshape_api"]
-disallow_untyped_defs = "True"
-disallow_any_unimported = "True"
-no_implicit_optional = "True"
-check_untyped_defs = "True"
-warn_return_any = "True"
-warn_unused_ignores = "True"
-show_error_codes = "True"
+disallow_untyped_defs = true
+disallow_any_unimported = true
+no_implicit_optional = true
+check_untyped_defs = true
+warn_return_any = true
+warn_unused_ignores = true
+show_error_codes = true