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-rw-r--r--host/simu/robots/guybrush/model/bag.py7
1 files changed, 7 insertions, 0 deletions
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index fda35ce0..6ff18194 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -25,6 +25,8 @@
from simu.model.switch import Switch
from simu.model.position import Position
from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
+from simu.model.pneumatic_cylinder import PneumaticCylinder
+from simu.robots.guybrush.model.clamps import Clamps
from math import pi
import random
@@ -37,6 +39,11 @@ class Bag:
self.jack = Switch (link_bag.io_hub.contact[1], invert = True)
self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True)
self.position = Position (link_bag.asserv.position)
+ self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0],
+ (PneumaticCylinder (None, link_bag.io_hub.output[8],
+ scheduler, 0., 30., 150., 75., 30.),
+ PneumaticCylinder (None, link_bag.io_hub.output[9],
+ scheduler, 0., 30., 150., 75., 30.)))
self.distance_sensor = [
DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table,
(20, 20), pi * 10 / 180, (self.position, ), 2),