def _set_active_dof_inds(self, inds=None):
    '\n        Set active dof index to the one we are interested\n        This function is implemented to simplify jacobian calculation in the CollisionPredicate\n        inds: Optional list of index specifying dof index we are interested in\n        '
    robot = self.env_body
    if (inds == None):
        dof_inds = np.ndarray(0, dtype=np.int)
        if (robot.GetJoint('torso_lift_joint') != None):
            dof_inds = np.r_[(dof_inds, robot.GetJoint('torso_lift_joint').GetDOFIndex())]
        dof_inds = np.r_[(dof_inds, robot.GetManipulator('leftarm').GetArmIndices())]
        dof_inds = np.r_[(dof_inds, robot.GetManipulator('leftarm').GetGripperIndices())]
        dof_inds = np.r_[(dof_inds, robot.GetManipulator('rightarm').GetArmIndices())]
        dof_inds = np.r_[(dof_inds, robot.GetManipulator('rightarm').GetGripperIndices())]
        robot.SetActiveDOFs(dof_inds, ((DOFAffine.X + DOFAffine.Y) + DOFAffine.RotationAxis), [0, 0, 1])
    else:
        robot.SetActiveDOFs(inds)
Set active dof index to the one we are interested
This function is implemented to simplify jacobian calculation in the CollisionPredicate
inds: Optional list of index specifying dof index we are interested in
def _set_active_dof_inds(self, inds=None):
    '\n        Set active dof index to the one we are interested\n        This function is implemented to simplify jacobian calculation in the CollisionPredicate\n        inds: Optional list of index specifying dof index we are interested in\n        '
    robot = self.env_body
    if (inds == None):
        dof_inds = np.ndarray(0, dtype=np.int)
        if (robot.GetJoint('torso_lift_joint') != None):
            dof_inds = np.r_[(dof_inds, robot.GetJoint('torso_lift_joint').GetDOFIndex())]
        dof_inds = np.r_[(dof_inds, robot.GetManipulator('leftarm').GetArmIndices())]
        dof_inds = np.r_[(dof_inds, robot.GetManipulator('leftarm').GetGripperIndices())]
        dof_inds = np.r_[(dof_inds, robot.GetManipulator('rightarm').GetArmIndices())]
        dof_inds = np.r_[(dof_inds, robot.GetManipulator('rightarm').GetGripperIndices())]
        robot.SetActiveDOFs(dof_inds, ((DOFAffine.X + DOFAffine.Y) + DOFAffine.RotationAxis), [0, 0, 1])
    else:
        robot.SetActiveDOFs(inds)