def getCollisionParent(obj):
    if isinstance(obj, vis.FrameItem):
        return obj.parent()
    if isGraspSeed(obj):
        return obj.parent()
    else:
        return obj


# The most recently cached PickedPoint - available as input to any other algorithm
If obj is an affordance, return obj
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/robotviewbehaviors.py/getCollisionParent