Add MulticlampPlace

actions_manager/src/tasks/multiclamp_place.py

+from time import sleep
+from task import Task
+
+
+class MulticlampPlace(Task):
+
+    def __init__(self, robot, cup_indexes={1, 2, 3, 4, 5}):
+        self.robot = robot
+        self.cup_indexes = cup_indexes
+
+    def run(self):
+
+        self.robot.lower_multiclamp_arm()
+        sleep(1)  # wait for the multiclamp to go down
+
+        for cup_idx in self.cup_indexes:
+            self.robot.open_multiclamp_servo(cup_idx)
+
+        self.robot.raise_multiclamp_arm()
+        sleep(1)  # wait for the multiclamp to go up
+
+        for cup_idx in self.cup_indexes:
+            self.robot.close_multiclamp_servo(cup_idx)