def apply(self, state, **kwargs):
with LockRenderer():
self.cone = get_viewcone(color=(1, 0, 0, 0.5))
state.poses[self.cone] = None
cone_pose = Pose(self.cone, unit_pose())
attach = Attach(self.robot, self.group, cone_pose, self.cone)
attach.assign()
wait_for_duration(1e-2)
for _ in attach.apply(state, **kwargs):
yield
def apply(self, state, **kwargs):
self.cone = get_viewcone(color=(1, 0, 0, 0.5))
state.poses[self.cone] = None
attach = Attach(self.robot, self.group, Pose(self.cone, unit_pose()),
self.cone)
attach.apply(state, **kwargs)