def get_link_obstacles(world, link_name):
if link_name in world.movable:
return flatten_links(world.get_body(link_name))
elif has_link(world.kitchen, link_name):
link = link_from_name(world.kitchen, link_name)
return flatten_links(world.kitchen, get_link_subtree(world.kitchen, link)) # subtree?
assert link_name in SURFACE_FROM_NAME
return set()
def bodies(self):
return flatten_links(self.robot, get_moving_links(self.robot, self.robot_joints)) | \
flatten_links(self.world.kitchen, get_moving_links(self.world.kitchen, self.door_joints))
def bodies(self):
bodies = set(super(ApproachTrajectory,
self).bodies) # TODO: rename to bodies
for name in self.objects:
bodies.update(flatten_links(self.world.get_body(name)))
return bodies
def bodies(self):
# TODO: decompose into dependents and moving?
return flatten_links(self.robot,
get_moving_links(self.robot, self.joints))