Merge pull request #66 from neurobionics/65-bug-set_variables-payload-missing-required-type-field-api-contract-mismatch

Fixes #65: set variables bug

Author: senthurayyappan

examples/edit/main.py

@@ -1,4 +1,5 @@
 from onshape_robotics_toolkit.connect import Client
+from onshape_robotics_toolkit.formats.urdf import URDFSerializer
 from onshape_robotics_toolkit.graph import KinematicGraph
 from onshape_robotics_toolkit.models.document import Document
 from onshape_robotics_toolkit.parse import CAD
@@ -23,17 +24,14 @@
     variables["wheelThickness"].expression = "71 mm"
     variables["forkAngle"].expression = "20 deg"
 
-    # Create dictionary with variable names and their new expressions
-    variables_to_set = {
-        "wheelDiameter": variables["wheelDiameter"].expression,
-        "wheelThickness": variables["wheelThickness"].expression,
-        "forkAngle": variables["forkAngle"].expression,
-    }
-
-    client.set_variables(document.did, document.wid, elements["variables"].id, variables_to_set)
+    client.set_variables(document.did, document.wid, elements["variables"].id, variables=variables)
     assembly = client.get_assembly(document.did, document.wtype, document.wid, elements["assembly"].id)
 
     cad = CAD.from_assembly(assembly, max_depth=MAX_DEPTH, client=client)
     graph = KinematicGraph.from_cad(cad, use_user_defined_root=True)
     robot = Robot.from_graph(kinematic_graph=graph, client=client, name=f"edit_{MAX_DEPTH}")
-    robot.save()
+
+    urdf_serializer = URDFSerializer()
+    urdf_serializer.save(
+        robot=robot, file_path="output/edited_robot.urdf", download_assets=True, mesh_dir="output/meshes"
+    )

examples/simulation/README.md

@@ -0,0 +1,38 @@
+# Simulation Example
+
+This example demonstrates how to use the onshape-robotics-toolkit with MuJoCo for physics simulation and Optuna for design optimization of a ballbot robot.
+
+## Additional Dependencies
+
+This example requires additional dependencies that are not part of the core toolkit. Install them using:
+
+```bash
+pip install onshape-robotics-toolkit[simulation]
+```
+
+Or if you're using uv:
+
+```bash
+uv pip install onshape-robotics-toolkit[simulation]
+```
+
+This will install:
+
+- `mujoco` - Physics simulation engine
+- `optuna` - Hyperparameter optimization framework
+- `plotly` - Interactive visualization library
+- `usd-core` - Universal Scene Description for 3D scene export
+
+## Running the Example
+
+After installing the simulation dependencies, you can run the example:
+
+```bash
+python examples/simulation/main.py
+```
+
+The script will prompt you for a run name and then perform:
+
+1. Design optimization (finding optimal physical parameters)
+2. Control optimization (tuning PID controllers)
+3. Export simulation results as USD files and visualization plots

examples/simulation/main.py

@@ -1,3 +1,10 @@
+"""
+Ballbot Design and Control Optimization Example
+
+This example requires additional simulation dependencies.
+Install them with: pip install onshape-robotics-toolkit[simulation]
+"""
+
 import json
 import os
 from functools import partial
@@ -302,14 +309,7 @@ def find_best_design_variables(trial):
     variables["spacer_height"].expression = f"{spacer_height:.1f} mm"
     variables["plate_thickness"].expression = f"{plate_thickness:.1f} mm"
 
-    variables_to_set = {
-        "wheel_diameter": variables["wheel_diameter"].expression,
-        "alpha": variables["alpha"].expression,
-        "spacer_height": variables["spacer_height"].expression,
-        "plate_thickness": variables["plate_thickness"].expression,
-    }
-
-    client.set_variables(doc.did, doc.wid, elements["variables"].id, variables_to_set)
+    client.set_variables(doc.did, doc.wid, elements["variables"].id, variables=variables)
     assembly = client.get_assembly(doc.did, doc.wtype, doc.wid, doc.eid)
 
     cad = CAD.from_assembly(assembly, max_depth=1, client=client)

onshape_robotics_toolkit/connect.py

@@ -350,15 +350,15 @@ def get_variables(self, did: str, wid: str, eid: str) -> dict[str, Variable]:
 
         return {variable["name"]: Variable.model_validate(variable) for variable in _variables_json[0]["variables"]}
 
-    def set_variables(self, did: str, wid: str, eid: str, variables: dict[str, str]) -> requests.Response:
+    def set_variables(self, did: str, wid: str, eid: str, variables: dict[str, Variable]) -> requests.Response:
         """
         Set values for variables of a variable studio in a document.
 
         Args:
             did: The unique identifier of the document.
             wid: The unique identifier of the workspace.
             eid: The unique identifier of the variable studio.
-            variables: A dictionary of variable name and expression pairs.
+            variables: A dictionary of variable name and Variable pairs
 
         Returns:
             requests.Response: Response from Onshape API after setting the variables.
@@ -376,8 +376,11 @@ def set_variables(self, did: str, wid: str, eid: str, variables: dict[str, str])
             ... )
             <Response [200]>
         """
+        for var_name, variable in variables.items():
+            if not isinstance(variable, Variable):
+                raise TypeError(f"Variable '{var_name}' is not a valid Variable object.")
 
-        payload = [{"name": name, "expression": expression} for name, expression in variables.items()]
+        payload = [variable.model_dump() for variable in variables.values()]
 
         # api/v9/variables/d/a1c1addf75444f54b504f25c/w/0d17b8ebb2a4c76be9fff3c7/e/cba5e3ca026547f34f8d9f0f/variables
         request_path = "/api/variables/d/" + did + "/w/" + wid + "/e/" + eid + "/variables"
@@ -388,7 +391,9 @@ def set_variables(self, did: str, wid: str, eid: str, variables: dict[str, str])
             body=payload,
         )
 
-        record_variable_update(element_id=eid, expressions=variables)
+        # Extract expressions from Variable objects for session recording
+        expressions = {name: var.expression for name, var in variables.items() if var.expression is not None}
+        record_variable_update(element_id=eid, expressions=expressions)
 
         return response
 

onshape_robotics_toolkit/formats/mjcf.py

@@ -38,6 +38,7 @@ def load_element(file_name: str) -> ET._Element:
     root: ET._Element = tree.getroot()
     return root
 
+
 if TYPE_CHECKING:
     from onshape_robotics_toolkit.parse import PathKey
     from onshape_robotics_toolkit.robot import Robot

pyproject.toml

@@ -84,6 +84,8 @@ filterwarnings = [
 target-version = "py39"
 line-length = 120
 fix = true
+
+[tool.ruff.lint]
 select = [
     # flake8-2020
     "YTT",
@@ -125,6 +127,9 @@ ignore = [
     "TRY300",
 ]
 
+[tool.ruff.lint.per-file-ignores]
+"tests/*" = ["S101"]
+
 [tool.ruff.format]
 preview = true
 
@@ -135,11 +140,8 @@ skip_empty = true
 branch = true
 source = ["onshape_robotics_toolkit"]
 
-[tool.ruff.per-file-ignores]
-"tests/*" = ["S101"]
-
 [tool.deptry]
 # Skip example directories as they are not part of the main package
 extend_exclude = ["examples"]
 # Set dev dependency groups to ignore test/dev dependencies in obsolete check
-pep621_dev_dependency_groups = ["docs"]
+pep621_dev_dependency_groups = ["docs", "simulation"]