added no gripper demos

2021-04-25 05:33:44 +02:00
parent 0c43fb85aa
commit 72191c3760
2 changed files with 233 additions and 0 deletions
--- 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