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-rw-r--r--host/simu/robots/guybrush/model/bag.py5
1 files changed, 3 insertions, 2 deletions
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index 2e751426..e70e5d77 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -43,14 +43,15 @@ class Bag:
table.obstacles.append (self.beacon)
self.position = Position (link_bag.asserv.position, [ self.beacon ])
output = link_bag.io_hub.output
+ contact = [ Switch (c) for c in link_bag.io_hub.contact[3:] ]
self.clamps = Clamps (table, self.position, link_bag.mimot.aux[0],
(PneumaticCylinder (None, output[8], scheduler,
0., 30., 150., 75., 30.),
PneumaticCylinder (None, output[9], scheduler,
0., 30., 150., 75., 30.)),
- [ Switch (c) for c in link_bag.io_hub.contact[3:3+4] ],
+ contact[0:4],
PneumaticCylinder (output[4], output[5], scheduler,
- 0., 1., 1., 1., 1.),
+ 0., 1., 1., 1., 1., contact[5], contact[6]),
PneumaticCylinder (output[3], output[2], scheduler,
0., 1., 1., 1., 0.),
PneumaticCylinder (None, output[1], scheduler,