def grasp(self, obj: Object) -> bool:
"""Grasp object if it is detected.
Note: The does not actuate the gripper, but instead simply attaches the
detected object to the gripper to 'fake' a grasp.
:param obj: The object to grasp if detected.
:return: True if the object was detected/grasped.
"""
detected = self._proximity_sensor.is_detected(obj)
if detected:
self._grasped_objects.append(obj)
self._old_parents.append(obj.get_parent())
obj.set_parent(self._attach_point, keep_in_place=True)
return detected
def grasp(self, obj: Object) -> bool:
"""Attach the object to the suction cup if it is detected.
Note: The does not move the object up to the suction cup. Therefore, the
proximity sensor should have a short range in order for the suction
grasp to look realistic.
:param obj: The object to grasp if detected.
:return: True if the object was detected/grasped.
"""
detected = self._proximity_sensor.is_detected(obj)
# Check if detected and that we are not already grasping it.
if detected and obj not in self._grasped_objects:
self._grasped_objects.append(obj)
self._old_parents.append(obj.get_parent()) # type: ignore
obj.set_parent(self._attach_point, keep_in_place=True)
return detected
