text: #! /usr/bin/env python
  
  
  from theconstruct_msgs.msg import RLExperimentInfo
  import numpy
  import rospy
  from std_msgs.msg import Float64
  from abb_catkin.srv import JointTraj, JointTrajRequest, EeRpy, EeRpyRequest
  from openai_ros import ABB_client
  
  
  class Abbenv(ABB_client.RobotGazeboEnv):
      """Superclass for all Fetch environments.
      """
  
      def zz(self):
  
          # MyControllers=['arm_controller', 'joint_state_controller']
          #
          # switch_controller = rospy.ServiceProxy('controller_manager/switch_controller', SwitchController)
          # list_controllers = rospy.ServiceProxy('controller_manager/list_controllers', ListControllers)
          #
          # switch_controller.wait_for_service()
          # list_controllers.wait_for_service()
  
          print ("Entered ABB Env")
          super(Abbenv, self).set_trajectory_joints([ 0, 1, 0.5, 0, 0.3, 0.2 ])
  
  if __name__ == "__main__":
  
      rospy.init_node("unspawner", anonymous=True)
      Abbenv().zz()
     # rospy.spin()
  
  #    print(ABB_client.RobotGazeboEnv.set_trajectory_joints([ 0, 0, 0, 0, 0, 0 ]))
  #    print(get_ee_rpy())
  