Fix error when resolving possible objects to pick while some are carr…

…ied by other robots (#313)
sea-bass · Dec 22, 2024 · c36d198 · c36d198
1 parent 54286f5
commit c36d198
Showing 1 changed file with 15 additions and 7 deletions.
diff --git a/pyrobosim/pyrobosim/utils/knowledge.py b/pyrobosim/pyrobosim/utils/knowledge.py
@@ -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
+                )
             )
         ]