CI bug fix

phobos/ci/model_testing.py

@@ -25,15 +25,15 @@ def __init__(self, new_model, compare_model=None):
         self.old_hyrodyn = None
         self.new_hml_test = get_load_report(self.new.robot.xmlfile, self.new.robot.submechanisms_file)
         self.new_sm_hml_test = []
-        if len([x for x in self.new.robot.submodel_defs if not x["name"].startswith("#submech#")]) > 0:
+        if len([x for x in self.new.robot.submodel_defs if not x.startswith("#submech#")]) > 0:
             sm_path = os.path.join(self.new.exportdir, "submodels")
             for au in self.new.robot.submodel_defs:
-                if au["name"].startswith("#submech#"):
+                if au.startswith("#submech#"):
                     continue
                 self.new_sm_hml_test += [{
-                    "name": au["name"],
-                    "urdf": os.path.join(sm_path, au["name"], "urdf", au["name"] + ".urdf"),
-                    "submech": os.path.normpath(os.path.join(sm_path, au["name"], "smurf", au["name"] + "_submechanisms.yml"))
+                    "name": au,
+                    "urdf": os.path.join(sm_path, au, "urdf", au + ".urdf"),
+                    "submech": os.path.normpath(os.path.join(sm_path, au, "smurf", au + "_submechanisms.yml"))
                 }]
                 self.new_sm_hml_test[-1]["report"] = get_load_report(
                     self.new_sm_hml_test[-1]["urdf"],
@@ -267,10 +267,11 @@ def test_compare_amount_joints(self):
         return len(self.new.robot.joints) == len(self.old.joints)
 
     def test_load_in_pybullet(self):
-        if not PYBULLET_AVAILABLE:
+        if not check_pybullet_available():
             log.warning('Pybullet not present')
             return True
         try:
+            import pybullet as pb
             client = pb.connect(pb.DIRECT)
             pb.loadURDF(os.path.join(self.new.robot.xmlfile), physicsClientId=client)
             pb.disconnect(client)

phobos/core/robot.py

@@ -258,7 +258,8 @@ def export_xml(self, outputdir=None, format="urdf", filename=None, float_fmt_dic
 
     def export_smurf(self, outputdir=None, outputfile=None, robotfile=None,
                      check_submechs=True, with_submodel_defs=False,
-                     with_meshes=True, mesh_format=None, additional_meshes=None, rel_mesh_pathes=None):
+                     with_meshes=True, mesh_format=None, additional_meshes=None, rel_mesh_pathes=None,
+                     submodels=None):
         """ Export self and all annotations inside a given folder with structure
         """
         assert self.check_linkage()
@@ -355,9 +356,14 @@ def export_smurf(self, outputdir=None, outputfile=None, robotfile=None,
         # submodel list
         if with_submodel_defs and len(self.submodel_defs) > 0:
             out_submodel_defs = {}
-            for name, definition in self.submodel_defs.items():
-                out_submodel_defs[name] = deepcopy(definition)
-                out_submodel_defs[name]["export_dir"] = os.path.relpath(out_submodel_defs[name]["export_dir"], smurf_dir)
+            if submodels is not None:
+                for name in submodels:
+                    out_submodel_defs[name] = deepcopy(self.submodel_defs[name])
+                    out_submodel_defs[name]["export_dir"] = os.path.relpath(out_submodel_defs[name]["export_dir"], smurf_dir)
+            else:
+                for name, definition in self.submodel_defs.items():
+                    out_submodel_defs[name] = deepcopy(definition)
+                    out_submodel_defs[name]["export_dir"] = os.path.relpath(out_submodel_defs[name]["export_dir"], smurf_dir)
             with open(os.path.join(smurf_dir, "{}_submodels.yml".format(self.name.replace('/','_'))), "w+") as stream:
                 stream.write(dump_json({"submodels": out_submodel_defs}, default_style=False))
                 export_files.append(os.path.split(stream.name)[-1])
@@ -722,7 +728,7 @@ def export(self, outputdir, export_config=None, rel_mesh_pathes=None, ros_pkg_na
                         name=export["name"],
                         start=export.get("start", None),
                         stop=export.get("stop", None),
-                        include_unstopped_branches=export.get("include_unstopped_branches", None),
+                        include_unstopped_branches=export.get("include_unstopped_branches", False),
                         no_submechanisms=export.get("no_submechanisms", False),
                         abstract_model=export.get("abstract_model", False),
                         remove_fixed=export.get("remove_fixed", False),
@@ -785,7 +791,8 @@ def export(self, outputdir, export_config=None, rel_mesh_pathes=None, ros_pkg_na
                 robotfile=xml_file_in_smurf,
                 check_submechs=check_submechs,
                 with_submodel_defs=True,
-                with_meshes=False  # has been done before
+                with_meshes=False,  # has been done before
+                submodels=[filtered_item['name'] for filtered_item in filter(lambda item: item["type"] == "submodel", export_config)]
             )
         # export ros package files
         if ros_pkg and not ros_pkg_later:

phobos/io/xmlrobot.py

@@ -27,7 +27,8 @@ def __init__(self, name=None, version=None, links: List[representation.Link] = N
                  materials: List[representation.Material] = None,
                  transmissions: List[representation.Transmission] = None,
                  sensors=None, motors=None, plugins=None, root=None,
-                 is_human=False, urdf_version=None, xmlfile=None, _xmlfile=None):
+                 is_human=False, urdf_version=None, xmlfile=None, _xmlfile=None, 
+                 sensors_that_dont_belong_to_links_or_joints=None):
         self._related_robot_instance = self
         super().__init__()
         self.joints = []
@@ -65,10 +66,13 @@ def __init__(self, name=None, version=None, links: List[representation.Link] = N
         self.materials = materials if materials is not None else []
         self.transmissions = transmissions if transmissions is not None else []
         self.sensors = sensors if sensors is not None else []
+        if sensors_that_dont_belong_to_links_or_joints is not None:
+            self.sensors_that_dont_belong_to_links_or_joints = sensors_that_dont_belong_to_links_or_joints
         self.motors = motors if motors is not None else []
         if plugins is not None:
             self.motors += [m for m in _plural(plugins) if isinstance(m, representation.Motor)]
 
+
         if is_human:
             self.annotate_as_human()