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Fix error when resolving possible objects to pick while some are carried by other robots #313

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merged 3 commits into from
Dec 22, 2024
Merged

Fix error when resolving possible objects to pick while some are carried by other robots #313

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903bbe4
Ignore objects that are currently carried by other robots when resolv…
robin-mueller Dec 22, 2024
1958b1c
Add robot check also to room filter
robin-mueller Dec 22, 2024
f119403
Fix comments
robin-mueller Dec 22, 2024
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22 changes: 15 additions & 7 deletions pyrobosim/pyrobosim/utils/knowledge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -332,20 +332,28 @@ def resolve_to_object(
possible_objects = [
obj
for obj in possible_objects
if obj.parent.parent.parent.name == room_name
if (
# Verify the object's parent is not a robot before performing further checks
hasattr(obj.parent, "parent")
and obj.parent.parent.parent.name == room_name
)
]

if location is not None:
possible_objects = [
obj
for obj in possible_objects
if (
obj.parent == location
or obj.parent.name == location
or obj.parent.parent == location
or obj.parent.parent.name == location
or obj.parent.category == location
or obj.parent.parent.category == location
# Verify the object's parent is not a robot before performing further checks
hasattr(obj.parent, "parent")
and (
obj.parent == location
or obj.parent.name == location
or obj.parent.parent == location
or obj.parent.parent.name == location
or obj.parent.category == location
or obj.parent.parent.category == location
)
)
]

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