def apply(self, state, **kwargs):
cone = self.attach.cone
detach = Detach(self.attach.robot, self.attach.group, cone)
for _ in detach.apply(state, **kwargs):
yield
del state.poses[cone]
remove_body(cone)
wait_for_duration(1e-2)
def apply(self, state, **kwargs):
cone = self.attach.cone
detach = Detach(self.attach.robot, self.attach.group, cone)
detach.apply(state, **kwargs)
del state.poses[cone]
remove_body(cone)