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)