---
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