From 347b7c80a8b1f42c2c668f2bded409aff58f0a90 Mon Sep 17 00:00:00 2001
From: Peter Corke <peter.i.corke@gmail.com>
Date: Sat, 31 Oct 2026 11:49:34 +1000
Subject: [PATCH] chore: housekeeping leftovers from the Codacy cleanup

- Delete posegraph.py, a 2020 prototype in the repository root that nothing
  uses: it imports the deprecated UVertex, has a stub method and debug prints,
  and needs itertools.pairwise (Python 3.10) in a package that supports 3.9.
  The Robotics Toolbox has the real PoseGraph.
- examples/create_json.py: pop('dgoal', None) instead of a bare except.
- Pin the two remaining third-party GitHub Actions to commit SHAs with the
  version in a comment, as RTB did in petercorke/robotics-toolbox-python#892:
  codecov/codecov-action v7.1.1 and dependabot/fetch-metadata v3.1.0.  They are
  the commits that @v7 and @v3 point to today, so what runs is unchanged.
  GitHub's own actions/* stay on tags, and Dependabot updates a pinned SHA with
  its comment.
- Ignore build/ as well as docs/build and dist/.

Part of #23.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
---
 .github/workflows/ci.yml                    |   2 +-
 .github/workflows/dependabot-auto-merge.yml |   2 +-
 .gitignore                                  |   1 +
 examples/create_json.py                     |   5 +-
 posegraph.py                                | 105 --------------------
 5 files changed, 4 insertions(+), 111 deletions(-)
 delete mode 100644 posegraph.py

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 8af21b81..b71893d0 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -76,7 +76,7 @@ jobs:
           pytest --cov=pgraph --cov-report=xml:coverage.xml
           coverage report
       - name: Upload coverage to Codecov
-        uses: codecov/codecov-action@v7
+        uses: codecov/codecov-action@303a32d7a59b442fa8d48b6a1cc6825c09c847a5  # v7.1.1
         with:
           files: ./coverage.xml
           verbose: true
diff --git a/.github/workflows/dependabot-auto-merge.yml b/.github/workflows/dependabot-auto-merge.yml
index 8de7f45f..24f8d0d5 100644
--- a/.github/workflows/dependabot-auto-merge.yml
+++ b/.github/workflows/dependabot-auto-merge.yml
@@ -13,7 +13,7 @@ jobs:
     steps:
       - name: Dependabot metadata
         id: metadata
-        uses: dependabot/fetch-metadata@v3
+        uses: dependabot/fetch-metadata@25dd0e34f4fe68f24cc83900b1fe3fe149efef98  # v3.1.0
         with:
           github-token: "${{ secrets.GITHUB_TOKEN }}"
 
diff --git a/.gitignore b/.gitignore
index 16f919da..ddf82baf 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
+build/
 docs/build
 dist/
 *.code-workspace
diff --git a/examples/create_json.py b/examples/create_json.py
index 88e4bef9..d2b0a404 100644
--- a/examples/create_json.py
+++ b/examples/create_json.py
@@ -15,10 +15,7 @@
     del info['y']
     del info['dbne']
     del info['utmzone']
-    try:
-        del info['dgoal']
-    except:
-        pass
+    info.pop('dgoal', None)  # not every place has one
     info['utm'] = [info['utm'][0] / 1000, info['utm'][1] / 1000]
 
 routes = []
diff --git a/posegraph.py b/posegraph.py
deleted file mode 100644
index db908dee..00000000
--- a/posegraph.py
+++ /dev/null
@@ -1,105 +0,0 @@
-from pgraph import UGraph, UVertex, Edge
-import itertools
-
-
-class Frame(UVertex):
-    def __str__(self):
-        return f"Frame: {self.name}"
-
-    def __repr__(self):
-        return self.__str__()
-
-    def neighbours(self):
-        """
-        Neighbours of a vertex
-
-        ``v.neighbours()`` is a list of neighbours of this vertex.
-
-        .. note:: For a directed graph the neighbours are those on edges leaving this vertex
-        """
-        return [e.next(self) for e in self._edgelist]
-
-
-class Transform(Edge):
-
-    def __str__(self):
-        return f"Transform: {self.v1.name}:{self.v2.name} # [{self.data.strline()}]"
-
-    def set(self, x):
-        self.data = x
-
-
-class PoseGraph(UGraph):
-
-    def __init__(self):
-        super().__init__()
-        self.frames = {}
-        self.transforms = {}
-        self.cache = {}
-        self.dirty = False
-
-    def add_frame(self, name):
-        f = Frame(name=name)
-        self.frames[name] = f
-        self.add_vertex(f)
-        return f
-
-    def set_transform(self, x, f1, f2):
-        if isinstance(f1, str):
-            f1 = self.frames[f1]
-        if isinstance(f2, str):
-            f2 = self.frames[f2]
-
-        T = Transform(f1, f2, cost=1, data=x)
-        f1.connect(f2, edge=T)
-        return T
-
-    def transform(self, start, end):
-        # key = (frm, to)
-        # if key not in self.cache:
-        #     self.cache[key] = self.compute_transform(frm, to)
-        # return self.cache[key]
-        vertices, len = self.path_BFS(start, end)
-        edges = []
-        for first, next in itertools.pairwise(vertices):
-            e = first.edgeto(next)
-            if e.v1 == next:
-                edges.append((e, False))
-            elif e.v2 == next:
-                edges.append((e, True))
-
-        print(vertices)
-        print(edges)
-
-    def map(self, frm, to):
-        pass
-
-
-if __name__ == "__main__":
-
-    from spatialmath import SE3
-
-    pg = PoseGraph()
-    f1 = pg.add_frame("frame1")
-    f2 = pg.add_frame("frame2")
-    f3 = pg.add_frame("frame3")
-    f4 = pg.add_frame("frame4")
-
-    print(pg)
-
-    x = SE3()
-    print(x)
-
-    t12 = pg.set_transform(x, f1, f2)
-    t13 = pg.set_transform(x, "frame1", "frame3")
-
-    print(pg)
-
-    print(f1)
-    print(t12)
-
-    t12.set(SE3.Trans(1, 2, 3))
-
-    x = pg.transform(start=f2, end=f3)  # keeps a cache of paths
-    print(x)
-    # P3 = g.map(p1, from=f1, to=f