---
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