text: #!/usr/bin/env python
  
  from __future__ import print_function
  
  import sys
  import time
  
  from test_gripper import GripperTester
  from ariac_example import ariac_example
  import rospy
  import rostest
  
  
  class GripperBinDropTester(GripperTester):
  
      def test(self):
          self.comp_class = ariac_example.MyCompetitionClass()
          ariac_example.connect_callbacks(self.comp_class)
          time.sleep(1.0)
  
          self._send_arms_to_initial_pose()
  
          self._send_arm1_to_product()
  
          self._enable_gripper(arm=1)
          time.sleep(2.0)
          self.assertTrue(self.comp_class.arm_1_current_gripper_state.enabled)
          self.assertTrue(self.comp_class.arm_1_current_gripper_state.attached)
  
          self._send_arm1_to_tray()
          self.assertTrue(self.comp_class.arm_1_current_gripper_state.enabled)
          self.assertFalse(self.comp_class.arm_1_current_gripper_state.attached)
  
  
  if __name__ == '__main__':
      rospy.init_node('test_gripper_bin_drop', anonymous=True)
  
      # Wait until /clock is being published; this can take an unpredictable
      # amount of time when we're downloading models.
      while rospy.Time.now().to_sec() == 0.0:
          print('Waiting for Gazebo to start...')
          time.sleep(1.0)
      # Take an extra nap, to allow plugins to be loaded
      time.sleep(12.0)
      print('OK, starting test.')
  
      rostest.run('test_ariac', 'test_gripper_bin_drop', GripperBinDropTester, sys.argv)
  