def get_control_id_by_name()

in experiments/grasp_stability/robot.py [0:0]

• 14 lines of code
• 5 McCabe index (conditional complexity)

    def get_control_id_by_name(self, names):
        """
        get joint/link ID by name
        """
        nbJoint = pb.getNumJoints(self.robotID)
        jointNames = {}
        ctlID = 0
        for i in range(nbJoint):
            jointInfo = pb.getJointInfo(self.robotID, i)

            name = jointInfo[1].decode("utf-8")

            # skip fixed joint
            if jointInfo[2] == 4:
                continue

            # skip base joint
            if jointInfo[-1] == -1:
                continue

            jointNames[name] = ctlID
            ctlID += 1

        return [jointNames[name] for name in names]