Commit 136201a1 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

Make sure transition exists in HPP.

parent 50f5c77a
......@@ -89,16 +89,16 @@ class Factory(GraphFactoryAbstract):
ids = { n.name: n.id for n in elmts.edges }
nids = { n.name: n.id for n in elmts.nodes }
self.supervisor.sots = { ids[n]: sot for n, sot in self.sots.items() }
self.supervisor.sots = { ids[n]: sot for n, sot in self.sots.items() if ids.has_key(n) }
self.supervisor.grasps = { (gh, w): t for gh, ts in self.tasks._grasp.items() for w, t in ts.items() }
self.supervisor.hpTasks = self.hpTasks
self.supervisor.lpTasks = self.lpTasks
self.supervisor.postActions = {
ids[trans] : {
nids[state]: sot for state, sot in values.items() if nids.has_key(state)
} for trans, values in self.postActions.items()
} for trans, values in self.postActions.items() if ids.has_key(trans)
}
self.supervisor.preActions = { ids[trans] : sot for trans, sot in self.preActions.items() }
self.supervisor.preActions = { ids[trans] : sot for trans, sot in self.preActions.items() if ids.has_key(trans) }
def setupFrames (self, hppclient, sotrobot):
self.sotrobot = sotrobot
......
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