diff --git a/README.md b/README.md
index 598e066..cd8bb87 100644
--- a/README.md
+++ b/README.md
@@ -15,7 +15,7 @@ The `onshape-robotics-toolkit` library is designed for users seeking a scalable,
-| Feature | `onshape-robotics-toolkit` | `onshape-to-robot` |
+| Feature | `onshape-robotics-toolkit` | `onshape-to-robot` |
| ------------------------------------ | ------------------------------------ | --------------------------------------- |
| **Workflow Flexibility** | ✅ Open-ended and customizable | ❌ Predefined and rigid |
| **Design-Time Considerations** | ✅ None | ❌ Requires specific naming conventions |
diff --git a/docs/index.md b/docs/index.md
index de034f7..9cfd8bb 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -20,7 +20,7 @@ The `onshape-robotics-toolkit` library is designed for users seeking a scalable,
-| Feature | `onshape-robotics-toolkit` | `onshape-to-robot` |
+| Feature | `onshape-robotics-toolkit` | `onshape-to-robot` |
| ------------------------------------ | ------------------------------------ | --------------------------------------- |
| **Workflow Flexibility** | ✅ Open-ended and customizable | ❌ Predefined and rigid |
| **Design-Time Considerations** | ✅ None | ❌ Requires specific naming conventions |
diff --git a/examples/simulation/ball.xml b/examples/simulation/ball.xml
index 92c3f9f..ab4b186 100644
--- a/examples/simulation/ball.xml
+++ b/examples/simulation/ball.xml
@@ -3,4 +3,4 @@
-
\ No newline at end of file
+
diff --git a/examples/simulation/main.py b/examples/simulation/main.py
index 636ab86..3b2b65f 100644
--- a/examples/simulation/main.py
+++ b/examples/simulation/main.py
@@ -4,7 +4,6 @@
import numpy as np
import optuna
from mods import modify_ballbot
-
from scipy.spatial.transform import Rotation
from transformations import compute_motor_torques
@@ -13,7 +12,6 @@
from onshape_robotics_toolkit.models.document import Document
from onshape_robotics_toolkit.robot import Robot, RobotType
-
HEIGHT = 480
WIDTH = 640
@@ -174,4 +172,3 @@ def objective(trial):
print(" Params:")
for key, value in study.best_trial.params.items():
print(f" {key}: {value}")
-
diff --git a/onshape_robotics_toolkit/models/link.py b/onshape_robotics_toolkit/models/link.py
index c7dfd5f..7c0255b 100644
--- a/onshape_robotics_toolkit/models/link.py
+++ b/onshape_robotics_toolkit/models/link.py
@@ -24,7 +24,13 @@
from scipy.spatial.transform import Rotation
from scipy.spatial.transform import Rotation as R
-from onshape_robotics_toolkit.models.geometry import BaseGeometry, BoxGeometry, CylinderGeometry, MeshGeometry, SphereGeometry
+from onshape_robotics_toolkit.models.geometry import (
+ BaseGeometry,
+ BoxGeometry,
+ CylinderGeometry,
+ MeshGeometry,
+ SphereGeometry,
+)
from onshape_robotics_toolkit.utilities import format_number
diff --git a/onshape_robotics_toolkit/robot.py b/onshape_robotics_toolkit/robot.py
index 96f15e0..8536ad7 100644
--- a/onshape_robotics_toolkit/robot.py
+++ b/onshape_robotics_toolkit/robot.py
@@ -1040,5 +1040,6 @@ def get_robot(
# simulate_robot("test.xml")
- # robot = Robot.from_urdf("E:/onshape-robotics-toolkit/playground/20240920_umv_mini/20240920_umv_mini/20240920_umv_mini.urdf")
+ # robot = Robot.from_urdf("E:/onshape-robotics-toolkit/playground/20240920_umv_mini/"
+ # "20240920_umv_mini/20240920_umv_mini.urdf")
# robot.save(file_path="E:/onshape-robotics-toolkit/playground/test.urdf", download_assets=False)
diff --git a/poetry.lock b/poetry.lock
index ba0a173..7040065 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -405,6 +405,17 @@ tomli = {version = "*", optional = true, markers = "python_full_version <= \"3.1
[package.extras]
toml = ["tomli"]
+[[package]]
+name = "cssselect"
+version = "1.2.0"
+description = "cssselect parses CSS3 Selectors and translates them to XPath 1.0"
+optional = false
+python-versions = ">=3.7"
+files = [
+ {file = "cssselect-1.2.0-py2.py3-none-any.whl", hash = "sha256:da1885f0c10b60c03ed5eccbb6b68d6eff248d91976fcde348f395d54c9fd35e"},
+ {file = "cssselect-1.2.0.tar.gz", hash = "sha256:666b19839cfaddb9ce9d36bfe4c969132c647b92fc9088c4e23f786b30f1b3dc"},
+]
+
[[package]]
name = "cycler"
version = "0.12.1"
@@ -2767,6 +2778,51 @@ notebook = ["ipywidgets (>=6)"]
slack = ["slack-sdk"]
telegram = ["requests"]
+[[package]]
+name = "types-beautifulsoup4"
+version = "4.12.0.20241020"
+description = "Typing stubs for beautifulsoup4"
+optional = false
+python-versions = ">=3.8"
+files = [
+ {file = "types-beautifulsoup4-4.12.0.20241020.tar.gz", hash = "sha256:158370d08d0cd448bd11b132a50ff5279237a5d4b5837beba074de152a513059"},
+ {file = "types_beautifulsoup4-4.12.0.20241020-py3-none-any.whl", hash = "sha256:c95e66ce15a4f5f0835f7fbc5cd886321ae8294f977c495424eaf4225307fd30"},
+]
+
+[package.dependencies]
+types-html5lib = "*"
+
+[[package]]
+name = "types-html5lib"
+version = "1.1.11.20241018"
+description = "Typing stubs for html5lib"
+optional = false
+python-versions = ">=3.8"
+files = [
+ {file = "types-html5lib-1.1.11.20241018.tar.gz", hash = "sha256:98042555ff78d9e3a51c77c918b1041acbb7eb6c405408d8a9e150ff5beccafa"},
+ {file = "types_html5lib-1.1.11.20241018-py3-none-any.whl", hash = "sha256:3f1e064d9ed2c289001ae6392c84c93833abb0816165c6ff0abfc304a779f403"},
+]
+
+[[package]]
+name = "types-lxml"
+version = "2024.12.13"
+description = "Complete lxml external type annotation"
+optional = false
+python-versions = ">=3.8"
+files = [
+ {file = "types_lxml-2024.12.13-py3-none-any.whl", hash = "sha256:d4830c99ef6f7b9eae176297a2b8dc840b3a75986bf4449592ca09a9a449b27e"},
+ {file = "types_lxml-2024.12.13.tar.gz", hash = "sha256:e2dadb92c7f730cd369daf1efe93ebc2ebfa8b692d4415cfc91b727419152e37"},
+]
+
+[package.dependencies]
+cssselect = ">=1.2,<2.0"
+types-beautifulsoup4 = ">=4.12,<5.0"
+typing_extensions = {version = ">=4.10,<5.0", markers = "python_version < \"3.13\""}
+
+[package.extras]
+mypy = ["mypy (>=1.11,<2.0)"]
+pyright = ["pyright (>=1.1.351)"]
+
[[package]]
name = "typing-extensions"
version = "4.12.2"
@@ -2890,4 +2946,4 @@ type = ["pytest-mypy"]
[metadata]
lock-version = "2.0"
python-versions = ">=3.10,<4.0"
-content-hash = "bf35a1ca72e19f287d34e36d4f2d43c62ff648e018c2a8393c499194dba7ad0a"
+content-hash = "6cfd178a5bee91b95f1276b6b45d52dc5fc96704489bafa8dae7192598800e4f"
diff --git a/pyproject.toml b/pyproject.toml
index 297f8a3..01b18b1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
[tool.poetry]
name = "onshape-robotics-toolkit"
-version = "0.1.0"
+version = "0.1.1"
description = "A python library to facilitate interaction with Onshape's REST API"
authors = ["Senthur Ayyappan