gen_population_w_5hinges.py

    @trollius.coroutine
    def generate_population(self, n):
        """
        Generates population of `n` valid robots robots.

        :param n: Number of robots
        :return: Future with a list of valid robot trees and corresponding
                 bounding boxes.
        """
        logger.debug("Generating population of size %d..." % n)
        trees = []
        bboxes = []

        # for _ in xrange(n):
        while n - len(trees) > 0:
            gen = yield From(self.generate_valid_robot())
            if not gen:
                raise Return(None)

            tree, robot, bbox = gen

            hinge_count = self._count_hinges(robot.body.root)
            if hinge_count < 5:
                logger.error("Robot has {} hinges, trees {}".format(
                        hinge_count, len(trees)))
                continue

            trees.append(tree)
            bboxes.append(bbox)

        raise Return(trees, bboxes)

    def _count_hinges(self, proto_bot):
        hinge_count = 0

        if proto_bot.type == "ActiveHinge":
            hinge_count += 1

        if len(proto_bot.child) > 0:
            for proto_child in proto_bot.child:
                hinge_count += self._count_hinges(proto_child.part)

        return hinge_count