Clean-up

Author: hwiedPro

.gitignore

@@ -10,4 +10,6 @@ doc/_build
 *build
 *.egg-info
 *.egg
-*_wip**
+*_wip**
+tests/api/test_data/.temp**
+*.zip

phobos/core/robot.py

@@ -137,7 +137,6 @@ def get_blender_model_dictionary(self):
             if joint.mimic is not None:
                 for k, v in joint.mimic.to_yaml().items():
                     model["joints"][joint.name]["mimic_"+k] = v
-            # [TODO pre_v2.0.0] dynamics, etc.
             model["links"][joint.child]["pose"] = {'translation': joint.origin.xyz,
                                                    'rotation_euler': joint.origin.rpy,
                                                   }
@@ -2190,7 +2189,6 @@ def attach(self, other, joint, do_not_rename=False, name_prefix="", name_suffix=
             raise Exception("Provide valid joint type.")
 
         # Check for naming and rename if necessary
-        # [TODO pre_v2.0.0] attach the rest
         plink = set([str(link) for link in self.links])
         pjoints = set([str(j) for j in self.joints])
         pcollisions = set([str(c) for c in self.get_all_collisions()])
@@ -2233,7 +2231,7 @@ def attach(self, other, joint, do_not_rename=False, name_prefix="", name_suffix=
 
         if pjoints & cjoints:
             if not do_not_rename:
-                log.warning(f"Joint names are duplicates a _2 will be appended! {pjoints & cjoints}")
+                log.warning(f"Joint names are duplicates a {name_suffix} will be appended! {pjoints & cjoints}")
                 renamed_entities.update(other.rename(targettype="joint", target=list(pjoints & cjoints), prefix=name_prefix, suffix=name_suffix))
                 if joint.name in list(pjoints & cjoints):
                     joint.name = joint.name + "_2"
@@ -2242,15 +2240,15 @@ def attach(self, other, joint, do_not_rename=False, name_prefix="", name_suffix=
 
         if pcollisions & ccollisions:
             if not do_not_rename:
-                log.warning(f"Collision names are duplicates a _2 will be appended! {pcollisions & ccollisions}")
+                log.warning(f"Collision names are duplicates a {name_suffix} will be appended! {pcollisions & ccollisions}")
                 renamed_entities.update(
                     other.rename(targettype="collision", target=list(pcollisions & ccollisions), prefix=name_prefix, suffix=name_suffix))
             else:
                 raise NameError("There are duplicates in collision names", repr(pcollisions & ccollisions))
 
         if pvisuals & cvisuals:
             if not do_not_rename:
-                log.warning(f"Visual names are duplicates a _2 will be appended! {pvisuals & cvisuals}")
+                log.warning(f"Visual names are duplicates a {name_suffix} will be appended! {pvisuals & cvisuals}")
                 renamed_entities.update(
                     other.rename(targettype="visual", target=list(pvisuals & cvisuals), prefix=name_prefix, suffix=name_suffix))
             else:
@@ -2261,7 +2259,7 @@ def attach(self, other, joint, do_not_rename=False, name_prefix="", name_suffix=
                 cmaterials.remove(mat_name)
         if pmaterials & cmaterials:
             if not do_not_rename:
-                log.warning(f"Material names are duplicates a _2 will be appended! {pmaterials & cmaterials}")
+                log.warning(f"Material names are duplicates a {name_suffix} will be appended! {pmaterials & cmaterials}")
                 renamed_entities.update(
                     other.rename(targettype="material", target=list(pmaterials & cmaterials), prefix=name_prefix, suffix=name_suffix))
             else:
@@ -2275,47 +2273,47 @@ def attach(self, other, joint, do_not_rename=False, name_prefix="", name_suffix=
                 conflicting_sensors.remove(sname)
         if conflicting_sensors:
             if not do_not_rename:
-                log.warning(f"Sensor names are duplicates a _2 will be appended! {conflicting_sensors}")
+                log.warning(f"Sensor names are duplicates a {name_suffix} will be appended! {conflicting_sensors}")
                 renamed_entities.update(
                     other.rename(targettype="sensor", target=list(conflicting_sensors), prefix=name_prefix, suffix=name_suffix))
             else:
                 raise NameError("There are duplicates in sensor names", repr(conflicting_sensors))
 
         if ptransmissions & ctransmissions:
             if not do_not_rename:
-                log.warning(f"Transmission names are duplicates a _2 will be appended! {ptransmissions & ctransmissions}")
+                log.warning(f"Transmission names are duplicates a {name_suffix} will be appended! {ptransmissions & ctransmissions}")
                 renamed_entities.update(
                     other.rename(targettype="transmission", target=list(ptransmissions & ctransmissions), prefix=name_prefix, suffix=name_suffix))
             else:
                 raise NameError("There are duplicates in transmission names", repr(ptransmissions & ctransmissions))
 
         if pmotors & cmotors:
             if not do_not_rename:
-                log.warning(f"Motor names are duplicates a _2 will be appended! {pmotors & cmotors}")
+                log.warning(f"Motor names are duplicates a {name_suffix} will be appended! {pmotors & cmotors}")
                 renamed_entities.update(
                     other.rename(targettype="motor", target=list(pmotors & cmotors), prefix=name_prefix, suffix=name_suffix))
             else:
                 raise NameError("There are duplicates in motor names", repr(pmotors & cmotors))
 
         if pexoskeletons & cexoskeletons:
             if not do_not_rename:
-                log.warning(f"Exoskeleton names are duplicates a _2 will be appended! {pexoskeletons & cexoskeletons}")
+                log.warning(f"Exoskeleton names are duplicates a {name_suffix} will be appended! {pexoskeletons & cexoskeletons}")
                 renamed_entities.update(
                     other.rename(targettype="exoskeleton", target=list(pexoskeletons & cexoskeletons), prefix=name_prefix, suffix=name_suffix))
             else:
                 raise NameError("There are duplicates in exoskeleton names", repr(pexoskeletons & cexoskeletons))
 
         if psubmechanisms & csubmechanisms:
             if not do_not_rename:
-                log.warning(f"Submechanism names are duplicates a _2 will be appended! {psubmechanisms & csubmechanisms}")
+                log.warning(f"Submechanism names are duplicates a {name_suffix} will be appended! {psubmechanisms & csubmechanisms}")
                 renamed_entities.update(
                     other.rename(targettype="submechanism", target=list(psubmechanisms & csubmechanisms), prefix=name_prefix, suffix=name_suffix))
             else:
                 raise NameError("There are duplicates in submechanism names", repr(psubmechanisms & csubmechanisms))
 
         if pinterfaces & cinterfaces:
             if not do_not_rename:
-                log.warning(f"Interface names are duplicates a _2 will be appended! {pinterfaces & cinterfaces}")
+                log.warning(f"Interface names are duplicates a {name_suffix} will be appended! {pinterfaces & cinterfaces}")
                 renamed_entities.update(
                     other.rename(targettype="interface", target=list(pinterfaces & cinterfaces), prefix=name_prefix, suffix=name_suffix))
             else:
@@ -2357,14 +2355,6 @@ def attach(self, other, joint, do_not_rename=False, name_prefix="", name_suffix=
         assert len(self.joints) == len(self.get_joints_ordered_df()), f"{sorted([str(x) for x in self.joints])}\n{sorted([str(x) for x in self.get_joints_ordered_df()])}"
         assert self.get_root()
 
-        # this will be done by fill_submechanisms we are delaying this to the export to give the user the opportunity to define something thereselves
-        # # Add the connection joint to the submechanism tree
-        # self.submechanisms += [Submechanism(self, name=joint.name, type="serial", contextual_name="ConnectionJoint",
-        #                                     jointnames_independent=[] if joint.type == "fixed" else [joint.name],
-        #                                     jointnames_spanningtree=[] if joint.type == "fixed" else [joint.name],
-        #                                     jointnames_active=[] if joint.type == "fixed" else [joint.name],
-        #                                     jointnames=[joint.name])]
-
         self.relink_entities()
         return renamed_entities
 

phobos/io/smurfrobot.py

@@ -426,7 +426,7 @@ def load_submechanisms(self, submechanism_definition, replace_only_conflicting=F
                         self.exoskeletons.remove(existing)
             self.add_aggregate("exoskeletons", _ex)
 
-    def sort_submechanisms(self):  # [TODO pre_v2.0.0] The submechanisms are not ordered correctly
+    def sort_submechanisms(self):
         """
         Sorts the submechanisms as well as there jointname lists
         :return: None
@@ -462,7 +462,7 @@ def _get_joints_included_twice_in_submechanisms(self):
             sm_joints += sm.get_joints()
         return twice
 
-    def generate_submechanisms(self):  # [TODO pre_v2.0.0] The fixed joints are not sorted correctly
+    def generate_submechanisms(self):
         """
         Scans the defined submechanisms and creates the entries for missing joints
         :return: None