[MultiverseAction] made sure when setting attachments to obey the loo…

…se such that the correct attachment is set.

src/pycram/world_concepts/world_object.py

@@ -739,8 +739,11 @@ def attach_not_attached_objects(self, attachments: Dict[Object, Attachment]) ->
                     self.detach(obj)
                 else:
                     continue
-            self.attach(obj, attachment.parent_link.name, attachment.child_link.name,
-                        attachment.bidirectional)
+            if attachment.loose:
+                obj.attach(self, attachment.child_link.name, attachment.parent_link.name, attachment.bidirectional)
+            else:
+                self.attach(obj, attachment.parent_link.name, attachment.child_link.name,
+                            attachment.bidirectional)
 
     @property
     def link_states(self) -> Dict[int, LinkState]:

test/bullet_world_testcase.py

@@ -2,6 +2,7 @@
 import unittest
 
 import pycram.tasktree
+from pycram.datastructures.world import UseProspectionWorld
 from pycram.worlds.bullet_world import BulletWorld
 from pycram.world_concepts.world_object import Object
 from pycram.datastructures.pose import Pose
@@ -36,6 +37,8 @@ def setUpClass(cls):
 
     def setUp(self):
         self.world.reset_world()
+        with UseProspectionWorld():
+            pass
 
     # DO NOT WRITE TESTS HERE!!!
     # Test related to the BulletWorld should be written in test_bullet_world.py
@@ -45,6 +48,8 @@ def tearDown(self):
         pycram.tasktree.reset_tree()
         time.sleep(0.05)
         self.world.reset_world()
+        with UseProspectionWorld():
+            pass
 
     @classmethod
     def tearDownClass(cls):