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)