[MultiverseAction] DetectionAction is now working in multiverse.

src/pycram/process_modules/pr2_process_modules.py

@@ -87,14 +87,13 @@ def _execute(self, desig: DetectingMotion):
         robot = World.robot
         object_type = desig.object_type
         # Should be "wide_stereo_optical_frame"
-        cam_frame_name = RobotDescription.current_robot_description.get_camera_frame()
+        camera_link_name = RobotDescription.current_robot_description.get_camera_link()
         # should be [0, 0, 1]
         camera_description = RobotDescription.current_robot_description.cameras[
             list(RobotDescription.current_robot_description.cameras.keys())[0]]
         front_facing_axis = camera_description.front_facing_axis
 
         objects = World.current_world.get_object_by_type(object_type)
-        camera_link_name = [link.name for link in robot.links.values() if link.tf_frame == cam_frame_name][0]
         for obj in objects:
             if btr.visible(obj, robot.get_link_pose(camera_link_name), front_facing_axis):
                 return obj

src/pycram/world_concepts/world_object.py

@@ -814,7 +814,11 @@ def joint_states(self, joint_states: Dict[int, JointState]) -> None:
         :param joint_states: A dictionary with the joint id as key and the current state of the joint as value.
         """
         for joint in self.joints.values():
-            joint.current_state = joint_states[joint.id]
+            if joint.name not in self.robot_virtual_move_base_joints_names():
+                joint.current_state = joint_states[joint.id]
+
+    def robot_virtual_move_base_joints_names(self):
+        return self.robot_description.virtual_move_base_joints.names
 
     def remove_saved_states(self) -> None:
         """