added no gripper demos

2021-04-25 05:33:44 +02:00 · 2021-04-25 05:33:44 +02:00 · 72191c3760
parent 0c43fb85aa
commit 72191c3760
2 changed files with 233 additions and 0 deletions
--- a/fully_automated_demo_without_gripper/master.yaml
+++ b/fully_automated_demo_without_gripper/master.yaml
@ -0,0 +1,121 @@
+---
+version: 1
+name: fully_automated_demo_without_gripper_master
+created_at: '2021-04-14T20:54:47.557000'
+load_plugins: ["sleep", "log", "sync", "ur_rtde"]
+
+program:
+- command: sleep
+  args:
+    secs: 1
+
+- command: moveJ
+  args:
+    q: [2.62549879377507, -0.5480333851262195, 1.6144295580947547, 3.6454692086405562, -1.5676547341413067, 4.1929789949911775]
+    speed: 1.0
+    acceleration: 4.0
+
+- command: log
+  args:
+    level: INFO
+    message: Gripper should open here!
+
+- command: sleep
+  args:
+    secs: 1
+
+- command: moveL
+  args:
+    pose: [0.399, -0.1, -0.26798, 0, 3.14, 0]
+    speed: 0.05
+    acceleration: 0.75
+
+- command: log
+  args:
+    level: INFO
+    message: Gripper should close here!
+
+- command: sleep
+  args:
+    secs: 1
+
+- command: moveL
+  args:
+    pose: [0.399, -0.1, -0.17744, 0, 3.14, 0]
+    speed: 0.05
+    acceleration: 0.75
+
+- command: moveJ
+  args:
+    q: [2.7818802947537615, 0.027401669256310976, 0.2645919146023404, 5.9908426574705365, -2.7159068490283764, 4.71238898038469]
+    speed: 1.0
+    acceleration: 4.0
+
+- command: moveJ
+  args:
+    q: [2.251125669222286, -0.4209734155810323, 1.309695070696545, 5.46637121724624, -3.248755869662245, 4.793197724752027]
+    speed: 1.0
+    acceleration: 4.0
+
+- command: sync
+  args:
+    nodes: 2
+    name: "before_"
+
+- command: moveL
+  args:
+    pose: [0.05172, -0.45694, 0.0, 0.588, -1.482, 0.572]
+    speed: 0.032
+    acceleration: 0.75
+
+- command: sync
+  args:
+    nodes: 2
+    name: "after_"
+
+- command: sync
+  args:
+    nodes: 2
+    name: "something"
+
+- command: moveJ
+  args:
+    q: [1.7371262045099563, -0.4787438138220446, 1.4166837538437973, 3.7744490403629367, -1.5711453926452954, 4.7757444322320834]
+    speed: 1.0
+    acceleration: 4.0
+
+- command: moveL
+  args:
+    pose: [0.178, -0.4036, -0.2149, 2.111, 2.323, 0]
+    speed: 0.05
+    acceleration: 0.75
+
+- command: log
+  args:
+    level: INFO
+    message: Gripper should open here!
+
+- command: sleep
+  args:
+    secs: 1
+
+- command: moveL
+  args:
+    pose: [0.17801, -0.4036, -0.1775, 2.111, 2.323, 0]
+    speed: 0.05
+    acceleration: 0.75
+
+- command: log
+  args:
+    level: INFO
+    message: Gripper should close here!
+
+- command: sleep
+  args:
+    secs: 1
+
+- command: moveL
+  args:
+    pose: [0.399, -0.1, -0.17744, 0, 3.14, 0]
+    speed: 0.05
+    acceleration: 0.75
--- a/fully_automated_demo_without_gripper/slave.yaml
+++ b/fully_automated_demo_without_gripper/slave.yaml
@ -0,0 +1,112 @@
+---
+version: 1
+name: fully_automated_demo_without_gripper_slave
+created_at: '2021-04-25T05:33:11.00000'
+load_plugins: ["sleep", "log", "sync", "ur_rtde"]
+
+program:
+- command: log
+  args:
+    level: INFO
+    message: Gripper should open here!
+
+- command: sleep
+  args:
+    secs: 1
+
+- command: moveJ
+  args:
+    q: [5.7386425805573555, -0.536165146212658, 1.6278685933351111, -2.661452576366153, -1.5683528658421044, 1.0096729722787197]
+    speed: 1.0
+    acceleration: 4.0
+
+- command: moveL
+  args:
+    pose: [-0.4, 0.1, -0.31, 3.142, 0, 0]
+    speed: 0.05
+    acceleration: 0.75
+
+- command: log
+  args:
+    level: INFO
+    message: Gripper should close here!
+
+- command: sleep
+  args:
+    secs: 1
+
+- command: moveL
+  args:
+    pose: [-0.4, 0.1, -0.24, 3.142, 0, 0]
+    speed: 0.05
+    acceleration: 0.75
+
+- command: moveJ
+  args:
+    q: [5.923472948343555, 0.032637657012293965, 0.2590068609959585, -0.2935643801854462, -2.7157323161031766, 4.71238898038469]
+    speed: 1.0
+    acceleration: 4.0
+
+- command: moveJ
+  args:
+    q: [4.982042349817814, -0.5256931707006921, 1.620887276327134, -1.0993828958312282, -3.660653573132907, 5.271592472723674]
+    speed: 1.0
+    acceleration: 4.0
+
+- command: sleep
+  args:
+    secs: 0.5
+
+- command: sync
+  args:
+    nodes: 2
+    name: "before_"
+
+- command: moveL
+  args:
+    pose: [0.0858, 0.5571200000000001, 0.002, 0.543, -3.592, -2.297]
+    speed: 0.05
+    acceleration: 0.75
+
+- command: sync
+  args:
+    nodes: 2
+    name: "after_"
+
+- command: moveL
+  args:
+    pose: [0.021, 0.49545999999999996, 0.002, 1.613, -3.933, -1.67]
+    speed: 0.05
+    acceleration: 0.75
+
+- command: log
+  args:
+    level: INFO
+    message: Gripper should open here!
+
+- command: sleep
+  args:
+    secs: 1
+
+- command: moveL
+  args:
+    pose: [-0.009, 0.46545, 0.002, 0.543, -3.592, -2.297]
+    speed: 0.05
+    acceleration: 0.75
+
+- command: moveJ
+  args:
+    q: [5.923472948343555, 0.032637657012293965, 0.2590068609959585, -0.2935643801854462, -2.7157323161031766, 4.71238898038469]
+    speed: 1.0
+    acceleration: 4.0
+
+- command: sync
+  args:
+    nodes: 2
+    name: "something"
+
+- command: moveJ
+  args:
+    q: [5.7386425805573555, -0.536165146212658, 1.6278685933351111, -2.661452576366153, -1.5683528658421044, 1.0096729722787197]
+    speed: 1.0
+    acceleration: 4.0