Merge pull request #120 from Tigul/main

Test for duplicated symbols after remove_connection

Author: LucaKro

src/semantic_digital_twin/world.py

@@ -701,9 +701,6 @@ def add_connection(
         :param connection: The connection to add.
         """
         connection.add_to_world(self)
-        for dof in connection.dofs:
-            if dof._world is None:
-                self.add_degree_of_freedom(dof)
         self.add_kinematic_structure_entity(connection.parent, handle_duplicates)
         self.add_kinematic_structure_entity(connection.child, handle_duplicates)
 

test/test_worlds/test_world.py

@@ -11,6 +11,7 @@
     RevoluteConnection,
     Connection6DoF,
     FixedConnection,
+    OmniDrive,
 )
 from semantic_digital_twin.exceptions import (
     AddingAnExistingSemanticAnnotationError,
@@ -828,3 +829,22 @@ def test_missing_world_modification_context(world_setup):
     world, l1, l2, bf, r1, r2 = world_setup
     with pytest.raises(MissingWorldModificationContextError):
         world.add_semantic_annotation(Handle(l1))
+
+
+def test_symbol_removal():
+    world1 = World()
+    body1 = Body(name=PrefixedName("body1"))
+    with world1.modify_world():
+        world1.add_body(body1)
+
+    world2 = World()
+    body2 = Body(name=PrefixedName("body2"))
+    with world2.modify_world():
+        world2.add_body(body2)
+
+    world1.merge_world(world2)
+
+    with world1.modify_world():
+        world1.remove_connection(body2.parent_connection)
+        c_root_bf = OmniDrive.create_with_dofs(parent=body1, child=body2, world=world1)
+        world1.add_connection(c_root_bf)