merged with main

Author: ichumuh

src/semantic_world/adapters/urdf.py

@@ -94,6 +94,7 @@ def parse(self) -> World:
         links = [self.parse_link(link, PrefixedName(link.name, self.parsed.name)) for link in self.parsed.links]
         root = [link for link in links if link.name.name == self.parsed.get_root()][0]
         world = World()
+        world.name = self.prefix
         world.add_body(root)
 
         with world.modify_world():

src/semantic_world/graph_of_convex_sets.py

@@ -6,9 +6,8 @@
 
 from .geometry import BoundingBox, BoundingBoxCollection
 from .variables import SpatialVariables
-from .views import MultiBodyView
 from .world import World
-from .world_entity import View
+from .world_entity import View, EnvironmentView
 
 logger = logging.getLogger(__name__)
 
@@ -225,8 +224,7 @@ def obstacles_of_world(cls, world: World, search_space: Optional[BoundingBoxColl
 
         :return: An event representing the obstacles in the search space.
         """
-        world_view = MultiBodyView()
-        [world_view.add_body(body) for body in world.bodies]
+        world_view = EnvironmentView(root=world.root)
         return cls.obstacles_from_views(world_view, search_space=search_space, bloat_obstacles=bloat_obstacles)
 
 
@@ -360,8 +358,7 @@ def free_space_from_world(cls, world: World, tolerance=.001, search_space: Optio
         :return: The connectivity graph.
         """
 
-        view = MultiBodyView()
-        [view.add_body(body) for body in world.bodies]
+        view = EnvironmentView(root=world.root, _world=world)
 
         return cls.free_space_from_view(view, tolerance=tolerance, search_space=search_space,
                                         bloat_obstacles=bloat_obstacles)
@@ -437,8 +434,7 @@ def navigation_map_from_world(cls, world: World, tolerance=.001,
         :return: The connectivity graph.
         """
 
-        view = MultiBodyView()
-        [view.add_body(body) for body in world.bodies]
+        view = EnvironmentView(root=world.root, _world=world)
 
         return cls.navigation_map_from_view(view, tolerance=tolerance, search_space=search_space,
                                             bloat_obstacles=bloat_obstacles)