refactor: final blender stabilization and import normalization (Final)

Signed-off-by: arounamounchili <patouossa.mounchili@gmail.com>

Author: arounamounchili

platforms/blender/linkforge/blender/logic/asynchronous_builder.py

@@ -11,10 +11,10 @@
 from pathlib import Path
 
 import bpy
+from linkforge_core.logging_config import get_logger
+from linkforge_core.models import Robot
+from linkforge_core.utils.kinematics import sort_joints_topological
 
-from ...linkforge_core.logging_config import get_logger
-from ...linkforge_core.models import Robot
-from ...linkforge_core.utils.kinematics import sort_joints_topological
 from ..adapters.core_to_blender import (
     create_joint_object,
     create_link_object,

platforms/blender/linkforge/blender/operators/export_ops.py

@@ -14,8 +14,8 @@
 import bpy
 from bpy.types import Context, Event, Operator
 from bpy_extras.io_utils import ExportHelper
+from linkforge_core.logging_config import get_logger
 
-from ...linkforge_core.logging_config import get_logger
 from ..utils.decorators import OperatorReturn, safe_execute
 
 if typing.TYPE_CHECKING:
@@ -77,7 +77,8 @@ def invoke(self, context: Context, event: Event) -> typing.Any:
     def execute(self, context: Context) -> OperatorReturn:
         """Execute the export."""
         # Import here to avoid circular dependencies
-        from ...linkforge_core import URDFGenerator, XACROGenerator
+        from linkforge_core import URDFGenerator, XACROGenerator
+
         from ..adapters.blender_to_core import scene_to_robot
 
         if not context.scene or not hasattr(context.scene, "linkforge"):
@@ -103,7 +104,7 @@ def execute(self, context: Context) -> OperatorReturn:
         logger.info(f"Exporting robot to: {output_path}")
         logger.debug(f"Mesh directory: {meshes_dir}")
 
-        from ...linkforge_core import LinkForgeError, RobotGeneratorError
+        from linkforge_core import LinkForgeError, RobotGeneratorError
 
         # Validate if requested
         if robot_props.validate_before_export:
@@ -118,7 +119,7 @@ def execute(self, context: Context) -> OperatorReturn:
                 logger.exception("Dry run build crashed")
                 return {"CANCELLED"}
 
-            from ...linkforge_core.validation import RobotValidator
+            from linkforge_core.validation import RobotValidator
 
             validator = RobotValidator()
             result = validator.validate(robot_dry_run)
@@ -194,7 +195,8 @@ class LINKFORGE_OT_validate_robot(Operator):
     @safe_execute
     def execute(self, context: Context) -> OperatorReturn:
         """Execute validation."""
-        from ...linkforge_core.validation import RobotValidator
+        from linkforge_core.validation import RobotValidator
+
         from ..adapters.blender_to_core import scene_to_robot
 
         # Clear previous results

platforms/blender/linkforge/blender/operators/import_ops.py

@@ -12,8 +12,8 @@
 
 import bpy
 from bpy_extras.io_utils import ImportHelper
+from linkforge_core.logging_config import get_logger
 
-from ...linkforge_core.logging_config import get_logger
 from ..utils.decorators import OperatorReturn, safe_execute
 from ..utils.scene_utils import clear_stats_cache
 
@@ -69,7 +69,7 @@ def execute(self, context: Context) -> OperatorReturn:
         Returns:
             Set containing the execution state (e.g., {'FINISHED'} or {'CANCELLED'}).
         """
-        from ...linkforge_core.parsers import URDFParser
+        from linkforge_core.parsers import URDFParser
 
         # Parse URDF/XACRO file
         urdf_path = Path(self.filepath)
@@ -112,7 +112,7 @@ def execute(self, context: Context) -> OperatorReturn:
         is_xacro = urdf_path.suffix == ".xacro" or urdf_path.name.endswith(".urdf.xacro")
 
         # Detect Sandbox Root for security (allows sibling folders like meshes/)
-        from ...linkforge_core.validation.security import find_sandbox_root
+        from linkforge_core.validation.security import find_sandbox_root
 
         sandbox_root = find_sandbox_root(urdf_path)
         logger.info(f"Importing robot from: {urdf_path}")
@@ -121,8 +121,8 @@ def execute(self, context: Context) -> OperatorReturn:
         # Smart Import Logic:
         # 1. If it looks like URDF, try parsing as URDF.
         # 2. If parsing fails because of Xacro tags, catch the error and switch to Xacro mode.
-        from ...linkforge_core import RobotParserError, XacroDetectedError
-        from ...linkforge_core.base import FileSystemResolver
+        from linkforge_core import RobotParserError, XacroDetectedError
+        from linkforge_core.base import FileSystemResolver
 
         # Read additional package paths from preferences
         from ..preferences import get_addon_prefs
@@ -160,7 +160,7 @@ def execute(self, context: Context) -> OperatorReturn:
             # XACRO PROCESSING (Triggered by extension OR fallback detection)
             if is_xacro:
                 # Convert XACRO to URDF using native XacroResolver
-                from ...linkforge_core.parsers import XacroResolver
+                from linkforge_core.parsers import XacroResolver
 
                 self.report({"INFO"}, f"Processing XACRO file: {urdf_path.name}")
 
@@ -195,7 +195,7 @@ def execute(self, context: Context) -> OperatorReturn:
             return {"CANCELLED"}
 
         # Validate robot structure
-        from ...linkforge_core.validation import RobotValidator
+        from linkforge_core.validation import RobotValidator
 
         validator = RobotValidator()
         result = validator.validate(robot)

platforms/blender/linkforge/blender/operators/link_ops.py

@@ -6,8 +6,9 @@
 import time
 import typing
 
-from ...linkforge_core.logging_config import get_logger
-from ...linkforge_core.models.link import InertiaTensor
+from linkforge_core.logging_config import get_logger
+from linkforge_core.models.link import InertiaTensor
+
 from ..properties.link_props import sanitize_urdf_name
 from ..utils.context import context_and_mode_guard
 from ..utils.decorators import OperatorReturn, safe_execute
@@ -509,8 +510,9 @@ def calculate_inertia_for_link(link_obj: bpy.types.Object) -> bool:
     lf = typing.cast("LinkPropertyGroup", getattr(link_obj, "linkforge"))
 
     # Import here to avoid circular dependency
-    from ...linkforge_core.models.geometry import Box, Cylinder, Sphere
-    from ...linkforge_core.physics import calculate_inertia, calculate_mesh_inertia_from_triangles
+    from linkforge_core.models.geometry import Box, Cylinder, Sphere
+    from linkforge_core.physics import calculate_inertia, calculate_mesh_inertia_from_triangles
+
     from ..adapters.blender_to_core import extract_mesh_triangles
     from ..utils.physics import calculate_mesh_inertia_numpy
 
@@ -558,7 +560,7 @@ def calculate_inertia_for_link(link_obj: bpy.types.Object) -> bool:
             # Primitive calculation expects dimensions
             if prim_type == "BOX":
                 # Convert mathutils.Vector to core Vector3
-                from ...linkforge_core.models.geometry import Vector3
+                from linkforge_core.models.geometry import Vector3
 
                 size = Vector3(dims.x, dims.y, dims.z)
                 tensor = calculate_inertia(Box(size=size), mass)

platforms/blender/linkforge/blender/utils/decorators.py

@@ -5,7 +5,7 @@
 import typing
 from collections.abc import Callable
 
-from ...linkforge_core.logging_config import get_logger
+from linkforge_core.logging_config import get_logger
 
 logger = get_logger(__name__)
 

platforms/blender/linkforge/blender/utils/joint_utils.py

@@ -3,8 +3,7 @@
 from __future__ import annotations
 
 import bpy
-
-from ...linkforge_core.models import Joint
+from linkforge_core.models import Joint
 
 
 def resolve_mimic_joints(joints: list[Joint], joint_objects: dict[str, bpy.types.Object]) -> None:

platforms/blender/linkforge/blender/utils/physics.py

@@ -6,16 +6,15 @@
 
 if TYPE_CHECKING:
     import numpy as np  # type: ignore[import-not-found]
-
-    from ...linkforge_core.models.link import InertiaTensor
+    from linkforge_core.models.link import InertiaTensor
 else:
     try:
         import numpy as np  # type: ignore[import-not-found]
     except ImportError:
         np = None
 
-from ...linkforge_core.logging_config import get_logger
-from ...linkforge_core.models.link import InertiaTensor
+from linkforge_core.logging_config import get_logger
+from linkforge_core.models.link import InertiaTensor
 
 logger = get_logger(__name__)
 

platforms/blender/linkforge/linkforge_core

@@ -0,0 +1 @@
+../../../core/src/linkforge_core

pyproject.toml

@@ -58,6 +58,7 @@ strict = true
 warn_return_any = true
 warn_unused_configs = true
 mypy_path = ["core/src", "platforms/blender"]
+exclude = ["platforms/blender/linkforge/linkforge_core"]
 
 # Blender (bpy) stubs use Python 3.12 syntax.
 [[tool.mypy.overrides]]