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Geometry

This module contains classes for representing geometry in Onshape.

Class
  • BaseGeometry: Abstract base class for geometry objects.
  • BoxGeometry: Represents a box geometry.
  • CylinderGeometry: Represents a cylinder geometry.
  • SphereGeometry: Represents a sphere geometry.
  • MeshGeometry: Represents a mesh geometry.

BaseGeometry dataclass

Bases: ABC

Abstract base class for geometry objects.

Abstract Methods

to_xml: Converts the geometry object to an XML element.

Source code in onshape_robotics_toolkit\models\geometry.py 
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@dataclass
class BaseGeometry(ABC):
    """
    Abstract base class for geometry objects.

    Abstract Methods:
        to_xml: Converts the geometry object to an XML element.
    """

    @abstractmethod
    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element: ...

    @abstractmethod
    def to_mjcf(self, root: ET.Element) -> None: ...

    @classmethod
    @abstractmethod
    def from_xml(cls, element: ET.Element) -> "BaseGeometry": ...

    @property
    @abstractmethod
    def geometry_type(self) -> str: ...

BoxGeometry dataclass

Bases: BaseGeometry

Represents a box geometry.

Attributes:

Name Type Description
size tuple[float, float, float]

The size of the box in the x, y, and z dimensions.

Methods:

Name Description
to_xml

Converts the box geometry to an XML element.

Examples:

>>> box = BoxGeometry(size=(1.0, 2.0, 3.0))
>>> box.to_xml()
<Element 'geometry' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\geometry.py 
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@dataclass
class BoxGeometry(BaseGeometry):
    """
    Represents a box geometry.

    Attributes:
        size (tuple[float, float, float]): The size of the box in the x, y, and z dimensions.

    Methods:
        to_xml: Converts the box geometry to an XML element.

    Examples:
        >>> box = BoxGeometry(size=(1.0, 2.0, 3.0))
        >>> box.to_xml()
        <Element 'geometry' at 0x7f8b3c0b4c70>
    """

    size: tuple[float, float, float]

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the box geometry to an XML element.

        Args:
            root: The root element to append the box geometry to.

        Returns:
            The XML element representing the box geometry.

        Examples:
            >>> box = BoxGeometry(size=(1.0, 2.0, 3.0))
            >>> box.to_xml()
            <Element 'geometry' at 0x7f8b3c0b4c70>
        """
        geometry = ET.Element("geometry") if root is None else ET.SubElement(root, "geometry")
        ET.SubElement(geometry, "box", size=" ".join(format_number(v) for v in self.size))
        return geometry

    def to_mjcf(self, root: ET.Element) -> None:
        """
        Convert the box geometry to an MJCF element.

        Args:
            root: The root element to append the box geometry to.

        Returns:
            The MJCF element representing the box geometry.

        Examples:
            >>> box = BoxGeometry(size=(1.0, 2.0, 3.0))
            >>> box.to_mjcf()
            <Element 'geom' at 0x7f8b3c0b4c70>
        """
        geom = root if root.tag == "geom" else ET.SubElement(root, "geom")
        geom.set("type", GeometryType.BOX)
        geom.set("size", " ".join(format_number(v) for v in self.size))

    @classmethod
    def from_xml(cls, element: ET.Element) -> "BoxGeometry":
        """
        Create a box geometry from an XML element.

        Args:
            element: The XML element to create the box geometry from.

        Returns:
            The box geometry created from the XML element.

        Examples:
            >>> element = ET.Element("geometry")
            >>> ET.SubElement(element, "box", size="1.0 2.0 3.0")
            >>> BoxGeometry.from_xml(element)
            BoxGeometry(size=(1.0, 2.0, 3.0))
        """
        size = tuple(float(v) for v in element.find("box").attrib["size"].split())
        return cls(size)

    @property
    def geometry_type(self) -> str:
        return GeometryType.BOX

from_xml(element) classmethod

Create a box geometry from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the box geometry from.

 required

Returns:

Type Description
BoxGeometry

The box geometry created from the XML element.

Examples:

>>> element = ET.Element("geometry")
>>> ET.SubElement(element, "box", size="1.0 2.0 3.0")
>>> BoxGeometry.from_xml(element)
BoxGeometry(size=(1.0, 2.0, 3.0))
Source code in onshape_robotics_toolkit\models\geometry.py 
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@classmethod
def from_xml(cls, element: ET.Element) -> "BoxGeometry":
    """
    Create a box geometry from an XML element.

    Args:
        element: The XML element to create the box geometry from.

    Returns:
        The box geometry created from the XML element.

    Examples:
        >>> element = ET.Element("geometry")
        >>> ET.SubElement(element, "box", size="1.0 2.0 3.0")
        >>> BoxGeometry.from_xml(element)
        BoxGeometry(size=(1.0, 2.0, 3.0))
    """
    size = tuple(float(v) for v in element.find("box").attrib["size"].split())
    return cls(size)

to_mjcf(root)

Convert the box geometry to an MJCF element.

Parameters:

Name Type Description Default
root Element

The root element to append the box geometry to.

 required

Returns:

Type Description
None

The MJCF element representing the box geometry.

Examples:

>>> box = BoxGeometry(size=(1.0, 2.0, 3.0))
>>> box.to_mjcf()
<Element 'geom' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\geometry.py 
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def to_mjcf(self, root: ET.Element) -> None:
    """
    Convert the box geometry to an MJCF element.

    Args:
        root: The root element to append the box geometry to.

    Returns:
        The MJCF element representing the box geometry.

    Examples:
        >>> box = BoxGeometry(size=(1.0, 2.0, 3.0))
        >>> box.to_mjcf()
        <Element 'geom' at 0x7f8b3c0b4c70>
    """
    geom = root if root.tag == "geom" else ET.SubElement(root, "geom")
    geom.set("type", GeometryType.BOX)
    geom.set("size", " ".join(format_number(v) for v in self.size))

to_xml(root=None)

Convert the box geometry to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the box geometry to.

 None

Returns:

Type Description
Element

The XML element representing the box geometry.

Examples:

>>> box = BoxGeometry(size=(1.0, 2.0, 3.0))
>>> box.to_xml()
<Element 'geometry' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\geometry.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the box geometry to an XML element.

    Args:
        root: The root element to append the box geometry to.

    Returns:
        The XML element representing the box geometry.

    Examples:
        >>> box = BoxGeometry(size=(1.0, 2.0, 3.0))
        >>> box.to_xml()
        <Element 'geometry' at 0x7f8b3c0b4c70>
    """
    geometry = ET.Element("geometry") if root is None else ET.SubElement(root, "geometry")
    ET.SubElement(geometry, "box", size=" ".join(format_number(v) for v in self.size))
    return geometry

CylinderGeometry dataclass

Bases: BaseGeometry

Represents a cylinder geometry.

Attributes:

Name Type Description
radius float

The radius of the cylinder.
length float

The length of the cylinder.

Methods:

Name Description
to_xml

Converts the cylinder geometry to an XML element.

Examples:

>>> cylinder = CylinderGeometry(radius=1.0, length=2.0)
>>> cylinder.to_xml()
<Element 'geometry' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\geometry.py 
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@dataclass
class CylinderGeometry(BaseGeometry):
    """
    Represents a cylinder geometry.

    Attributes:
        radius (float): The radius of the cylinder.
        length (float): The length of the cylinder.

    Methods:
        to_xml: Converts the cylinder geometry to an XML element.

    Examples:
        >>> cylinder = CylinderGeometry(radius=1.0, length=2.0)
        >>> cylinder.to_xml()
        <Element 'geometry' at 0x7f8b3c0b4c70>
    """

    radius: float
    length: float

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the cylinder geometry to an XML element.

        Args:
            root: The root element to append the cylinder geometry to.

        Returns:
            The XML element representing the cylinder geometry.

        Examples:
            >>> cylinder = CylinderGeometry(radius=1.0, length=2.0)
            >>> cylinder.to_xml()
            <Element 'geometry' at 0x7f8b3c0b4c70>
        """
        geometry = ET.Element("geometry") if root is None else ET.SubElement(root, "geometry")
        ET.SubElement(
            geometry,
            "cylinder",
            radius=format_number(self.radius),
            length=format_number(self.length),
        )
        return geometry

    def to_mjcf(self, root: ET.Element) -> None:
        """
        Convert the cylinder geometry to an MJCF element.

        Args:
            root: The root element to append the cylinder geometry to.

        Returns:
            The MJCF element representing the cylinder geometry.

        Examples:
            >>> cylinder = CylinderGeometry(radius=1.0, length=2.0)
            >>> cylinder.to_mjcf()
            <Element 'geom' at 0x7f8b3c0b4c70>
        """
        geom = root if root is not None and root.tag == "geom" else ET.SubElement(root, "geom")
        geom.set("type", GeometryType.CYLINDER)
        geom.set("size", f"{format_number(self.radius)} {format_number(self.length)}")

    @classmethod
    def from_xml(cls, element: ET.Element) -> "CylinderGeometry":
        """
        Create a cylinder geometry from an XML element.

        Args:
            element: The XML element to create the cylinder geometry from.

        Returns:
            The cylinder geometry created from the XML element.

        Examples:
            >>> element = ET.Element("geometry")
            >>> ET.SubElement(element, "cylinder", radius="1.0", length="2.0")
            >>> CylinderGeometry.from_xml(element)
            CylinderGeometry(radius=1.0, length=2.0)
        """
        radius = float(element.find("cylinder").attrib["radius"])
        length = float(element.find("cylinder").attrib["length"])
        return cls(radius, length)

    @property
    def geometry_type(self) -> str:
        return GeometryType.CYLINDER

from_xml(element) classmethod

Create a cylinder geometry from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the cylinder geometry from.

 required

Returns:

Type Description
CylinderGeometry

The cylinder geometry created from the XML element.

Examples:

>>> element = ET.Element("geometry")
>>> ET.SubElement(element, "cylinder", radius="1.0", length="2.0")
>>> CylinderGeometry.from_xml(element)
CylinderGeometry(radius=1.0, length=2.0)
Source code in onshape_robotics_toolkit\models\geometry.py 
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@classmethod
def from_xml(cls, element: ET.Element) -> "CylinderGeometry":
    """
    Create a cylinder geometry from an XML element.

    Args:
        element: The XML element to create the cylinder geometry from.

    Returns:
        The cylinder geometry created from the XML element.

    Examples:
        >>> element = ET.Element("geometry")
        >>> ET.SubElement(element, "cylinder", radius="1.0", length="2.0")
        >>> CylinderGeometry.from_xml(element)
        CylinderGeometry(radius=1.0, length=2.0)
    """
    radius = float(element.find("cylinder").attrib["radius"])
    length = float(element.find("cylinder").attrib["length"])
    return cls(radius, length)

to_mjcf(root)

Convert the cylinder geometry to an MJCF element.

Parameters:

Name Type Description Default
root Element

The root element to append the cylinder geometry to.

 required

Returns:

Type Description
None

The MJCF element representing the cylinder geometry.

Examples:

>>> cylinder = CylinderGeometry(radius=1.0, length=2.0)
>>> cylinder.to_mjcf()
<Element 'geom' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\geometry.py 
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def to_mjcf(self, root: ET.Element) -> None:
    """
    Convert the cylinder geometry to an MJCF element.

    Args:
        root: The root element to append the cylinder geometry to.

    Returns:
        The MJCF element representing the cylinder geometry.

    Examples:
        >>> cylinder = CylinderGeometry(radius=1.0, length=2.0)
        >>> cylinder.to_mjcf()
        <Element 'geom' at 0x7f8b3c0b4c70>
    """
    geom = root if root is not None and root.tag == "geom" else ET.SubElement(root, "geom")
    geom.set("type", GeometryType.CYLINDER)
    geom.set("size", f"{format_number(self.radius)} {format_number(self.length)}")

to_xml(root=None)

Convert the cylinder geometry to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the cylinder geometry to.

 None

Returns:

Type Description
Element

The XML element representing the cylinder geometry.

Examples:

>>> cylinder = CylinderGeometry(radius=1.0, length=2.0)
>>> cylinder.to_xml()
<Element 'geometry' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\geometry.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the cylinder geometry to an XML element.

    Args:
        root: The root element to append the cylinder geometry to.

    Returns:
        The XML element representing the cylinder geometry.

    Examples:
        >>> cylinder = CylinderGeometry(radius=1.0, length=2.0)
        >>> cylinder.to_xml()
        <Element 'geometry' at 0x7f8b3c0b4c70>
    """
    geometry = ET.Element("geometry") if root is None else ET.SubElement(root, "geometry")
    ET.SubElement(
        geometry,
        "cylinder",
        radius=format_number(self.radius),
        length=format_number(self.length),
    )
    return geometry

GeometryType

Bases: str, Enum

Enumerates the possible geometry types in Onshape.

Attributes:

Name Type Description
BOX str

Box geometry.
CYLINDER str

Cylinder geometry.
SPHERE str

Sphere geometry.
MESH str

Mesh geometry.

Examples:

>>> GeometryType.BOX
'BOX'
>>> GeometryType.CYLINDER
'CYLINDER'
Source code in onshape_robotics_toolkit\models\geometry.py 
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class GeometryType(str, Enum):
    """
    Enumerates the possible geometry types in Onshape.

    Attributes:
        BOX (str): Box geometry.
        CYLINDER (str): Cylinder geometry.
        SPHERE (str): Sphere geometry.
        MESH (str): Mesh geometry.

    Examples:
        >>> GeometryType.BOX
        'BOX'
        >>> GeometryType.CYLINDER
        'CYLINDER'
    """

    BOX = "box"
    CYLINDER = "cylinder"
    SPHERE = "sphere"
    MESH = "mesh"

MeshGeometry dataclass

Bases: BaseGeometry

Represents a mesh geometry.

Attributes:

Name Type Description
filename str

The filename of the mesh.

Methods:

Name Description
to_xml

Converts the mesh geometry to an XML element.

Examples:

>>> mesh = MeshGeometry(filename="mesh.stl")
>>> mesh.to_xml()
<Element 'geometry' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\geometry.py 
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@dataclass
class MeshGeometry(BaseGeometry):
    """
    Represents a mesh geometry.

    Attributes:
        filename (str): The filename of the mesh.

    Methods:
        to_xml: Converts the mesh geometry to an XML element.

    Examples:
        >>> mesh = MeshGeometry(filename="mesh.stl")
        >>> mesh.to_xml()
        <Element 'geometry' at 0x7f8b3c0b4c70>
    """

    filename: str

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the mesh geometry to an XML element.

        Args:
            root: The root element to append the mesh geometry to.

        Returns:
            The XML element representing the mesh geometry.

        Examples:
            >>> mesh = MeshGeometry(filename="mesh.stl")
            >>> mesh.to_xml()
            <Element 'geometry' at 0x7f8b3c0b4c70>
        """
        geometry = ET.Element("geometry") if root is None else ET.SubElement(root, "geometry")
        ET.SubElement(geometry, "mesh", filename=self.filename)
        return geometry

    def to_mjcf(self, root: ET.Element) -> None:
        """
        Convert the mesh geometry to an MJCF element.

        Args:
            root: The root element to append the mesh geometry to.

        Returns:
            The MJCF element representing the mesh geometry.

        Examples:
            >>> mesh = MeshGeometry(filename="mesh.stl")
            >>> mesh.to_mjcf()
            <Element 'geom' at 0x7f8b3c0b4c70>
        """
        geom = root if root is not None and root.tag == "geom" else ET.SubElement(root, "geom")
        geom.set("type", GeometryType.MESH)
        geom.set("mesh", self.mesh_name)

    @classmethod
    def from_xml(cls, element: ET.Element) -> "MeshGeometry":
        """
        Create a mesh geometry from an XML element.

        Args:
            element: The XML element to create the mesh geometry from.

        Returns:
            The mesh geometry created from the XML element.

        Examples:
            >>> element = ET.Element("geometry")
            >>> ET.SubElement(element, "mesh", filename="mesh.stl")
            >>> MeshGeometry.from_xml(element)
            MeshGeometry(filename="mesh.stl")
        """
        filename = element.find("mesh").attrib["filename"]
        return cls(filename)

    def __post_init__(self) -> None:
        self.filename = xml_escape(self.filename)

    @property
    def geometry_type(self) -> str:
        return GeometryType.MESH

    @property
    def mesh_name(self) -> str:
        file_name_w_ext = os.path.basename(self.filename)
        return os.path.splitext(file_name_w_ext)[0]

from_xml(element) classmethod

Create a mesh geometry from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the mesh geometry from.

 required

Returns:

Type Description
MeshGeometry

The mesh geometry created from the XML element.

Examples:

>>> element = ET.Element("geometry")
>>> ET.SubElement(element, "mesh", filename="mesh.stl")
>>> MeshGeometry.from_xml(element)
MeshGeometry(filename="mesh.stl")
Source code in onshape_robotics_toolkit\models\geometry.py 
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@classmethod
def from_xml(cls, element: ET.Element) -> "MeshGeometry":
    """
    Create a mesh geometry from an XML element.

    Args:
        element: The XML element to create the mesh geometry from.

    Returns:
        The mesh geometry created from the XML element.

    Examples:
        >>> element = ET.Element("geometry")
        >>> ET.SubElement(element, "mesh", filename="mesh.stl")
        >>> MeshGeometry.from_xml(element)
        MeshGeometry(filename="mesh.stl")
    """
    filename = element.find("mesh").attrib["filename"]
    return cls(filename)

to_mjcf(root)

Convert the mesh geometry to an MJCF element.

Parameters:

Name Type Description Default
root Element

The root element to append the mesh geometry to.

 required

Returns:

Type Description
None

The MJCF element representing the mesh geometry.

Examples:

>>> mesh = MeshGeometry(filename="mesh.stl")
>>> mesh.to_mjcf()
<Element 'geom' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\geometry.py 
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def to_mjcf(self, root: ET.Element) -> None:
    """
    Convert the mesh geometry to an MJCF element.

    Args:
        root: The root element to append the mesh geometry to.

    Returns:
        The MJCF element representing the mesh geometry.

    Examples:
        >>> mesh = MeshGeometry(filename="mesh.stl")
        >>> mesh.to_mjcf()
        <Element 'geom' at 0x7f8b3c0b4c70>
    """
    geom = root if root is not None and root.tag == "geom" else ET.SubElement(root, "geom")
    geom.set("type", GeometryType.MESH)
    geom.set("mesh", self.mesh_name)

to_xml(root=None)

Convert the mesh geometry to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the mesh geometry to.

 None

Returns:

Type Description
Element

The XML element representing the mesh geometry.

Examples:

>>> mesh = MeshGeometry(filename="mesh.stl")
>>> mesh.to_xml()
<Element 'geometry' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\geometry.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the mesh geometry to an XML element.

    Args:
        root: The root element to append the mesh geometry to.

    Returns:
        The XML element representing the mesh geometry.

    Examples:
        >>> mesh = MeshGeometry(filename="mesh.stl")
        >>> mesh.to_xml()
        <Element 'geometry' at 0x7f8b3c0b4c70>
    """
    geometry = ET.Element("geometry") if root is None else ET.SubElement(root, "geometry")
    ET.SubElement(geometry, "mesh", filename=self.filename)
    return geometry

SphereGeometry dataclass

Bases: BaseGeometry

Represents a sphere geometry.

Attributes:

Name Type Description
radius float

The radius of the sphere.

Methods:

Name Description
to_xml

Converts the sphere geometry to an XML element.

Examples:

>>> sphere = SphereGeometry(radius=1.0)
>>> sphere.to_xml()
<Element 'geometry' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\geometry.py 
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@dataclass
class SphereGeometry(BaseGeometry):
    """
    Represents a sphere geometry.

    Attributes:
        radius (float): The radius of the sphere.

    Methods:
        to_xml: Converts the sphere geometry to an XML element.

    Examples:
        >>> sphere = SphereGeometry(radius=1.0)
        >>> sphere.to_xml()
        <Element 'geometry' at 0x7f8b3c0b4c70>
    """

    radius: float

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the sphere geometry to an XML element.

        Args:
            root: The root element to append the sphere geometry to.

        Returns:
            The XML element representing the sphere geometry.

        Examples:
            >>> sphere = SphereGeometry(radius=1.0)
            >>> sphere.to_xml()
            <Element 'geometry' at 0x7f8b3c0b4c70>
        """
        geometry = ET.Element("geometry") if root is None else ET.SubElement(root, "geometry")
        ET.SubElement(geometry, "sphere", radius=format_number(self.radius))
        return geometry

    def to_mjcf(self, root: ET.Element) -> None:
        """
        Convert the sphere geometry to an MJCF element.

        Args:
            root: The root element to append the sphere geometry to.

        Returns:
            The MJCF element representing the sphere geometry.

        Examples:
            >>> sphere = SphereGeometry(radius=1.0)
            >>> sphere.to_mjcf()
            <Element 'geom' at 0x7f8b3c0b4c70>
        """
        geom = root if root is not None and root.tag == "geom" else ET.SubElement(root, "geom")
        geom.set("type", GeometryType.SPHERE)
        geom.set("size", format_number(self.radius))

    @classmethod
    def from_xml(cls, element: ET.Element) -> "SphereGeometry":
        """
        Create a sphere geometry from an XML element.

        Args:
            element: The XML element to create the sphere geometry from.

        Returns:
            The sphere geometry created from the XML element.

        Examples:
            >>> element = ET.Element("geometry")
            >>> ET.SubElement(element, "sphere", radius="1.0")
            >>> SphereGeometry.from_xml(element)
            SphereGeometry(radius=1.0)
        """
        radius = float(element.find("sphere").attrib["radius"])
        return cls(radius)

    @property
    def geometry_type(self) -> str:
        return GeometryType.SPHERE

from_xml(element) classmethod

Create a sphere geometry from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the sphere geometry from.

 required

Returns:

Type Description
SphereGeometry

The sphere geometry created from the XML element.

Examples:

>>> element = ET.Element("geometry")
>>> ET.SubElement(element, "sphere", radius="1.0")
>>> SphereGeometry.from_xml(element)
SphereGeometry(radius=1.0)
Source code in onshape_robotics_toolkit\models\geometry.py 
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@classmethod
def from_xml(cls, element: ET.Element) -> "SphereGeometry":
    """
    Create a sphere geometry from an XML element.

    Args:
        element: The XML element to create the sphere geometry from.

    Returns:
        The sphere geometry created from the XML element.

    Examples:
        >>> element = ET.Element("geometry")
        >>> ET.SubElement(element, "sphere", radius="1.0")
        >>> SphereGeometry.from_xml(element)
        SphereGeometry(radius=1.0)
    """
    radius = float(element.find("sphere").attrib["radius"])
    return cls(radius)

to_mjcf(root)

Convert the sphere geometry to an MJCF element.

Parameters:

Name Type Description Default
root Element

The root element to append the sphere geometry to.

 required

Returns:

Type Description
None

The MJCF element representing the sphere geometry.

Examples:

>>> sphere = SphereGeometry(radius=1.0)
>>> sphere.to_mjcf()
<Element 'geom' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\geometry.py 
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def to_mjcf(self, root: ET.Element) -> None:
    """
    Convert the sphere geometry to an MJCF element.

    Args:
        root: The root element to append the sphere geometry to.

    Returns:
        The MJCF element representing the sphere geometry.

    Examples:
        >>> sphere = SphereGeometry(radius=1.0)
        >>> sphere.to_mjcf()
        <Element 'geom' at 0x7f8b3c0b4c70>
    """
    geom = root if root is not None and root.tag == "geom" else ET.SubElement(root, "geom")
    geom.set("type", GeometryType.SPHERE)
    geom.set("size", format_number(self.radius))

to_xml(root=None)

Convert the sphere geometry to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the sphere geometry to.

 None

Returns:

Type Description
Element

The XML element representing the sphere geometry.

Examples:

>>> sphere = SphereGeometry(radius=1.0)
>>> sphere.to_xml()
<Element 'geometry' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\geometry.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the sphere geometry to an XML element.

    Args:
        root: The root element to append the sphere geometry to.

    Returns:
        The XML element representing the sphere geometry.

    Examples:
        >>> sphere = SphereGeometry(radius=1.0)
        >>> sphere.to_xml()
        <Element 'geometry' at 0x7f8b3c0b4c70>
    """
    geometry = ET.Element("geometry") if root is None else ET.SubElement(root, "geometry")
    ET.SubElement(geometry, "sphere", radius=format_number(self.radius))
    return geometry