113 lines
2.2 KiB
YAML
113 lines
2.2 KiB
YAML
---
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version: 1
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name: fully_automated_demo_without_gripper_slave
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created_at: '2021-04-25T05:33:11.00000'
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load_plugins: ["sleep", "log", "sync", "ur_rtde"]
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program:
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- command: log
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args:
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level: INFO
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message: Gripper should open here!
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- command: sleep
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args:
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secs: 1
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- command: moveJ
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args:
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q: [5.7386425805573555, -0.536165146212658, 1.6278685933351111, -2.661452576366153, -1.5683528658421044, 1.0096729722787197]
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speed: 1.0
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acceleration: 4.0
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- command: moveL
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args:
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pose: [-0.4, 0.1, -0.31, 3.142, 0, 0]
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speed: 0.05
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acceleration: 0.75
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- command: log
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args:
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level: INFO
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message: Gripper should close here!
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- command: sleep
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args:
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secs: 1
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- command: moveL
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args:
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pose: [-0.4, 0.1, -0.24, 3.142, 0, 0]
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speed: 0.05
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acceleration: 0.75
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- command: moveJ
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args:
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q: [5.923472948343555, 0.032637657012293965, 0.2590068609959585, -0.2935643801854462, -2.7157323161031766, 4.71238898038469]
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speed: 1.0
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acceleration: 4.0
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- command: moveJ
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args:
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q: [4.982042349817814, -0.5256931707006921, 1.620887276327134, -1.0993828958312282, -3.660653573132907, 5.271592472723674]
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speed: 1.0
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acceleration: 4.0
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- command: sleep
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args:
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secs: 0.5
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- command: sync
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args:
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nodes: 2
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name: "before_"
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- command: moveL
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args:
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pose: [0.0858, 0.5571200000000001, 0.002, 0.543, -3.592, -2.297]
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speed: 0.05
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acceleration: 0.75
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- command: sync
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args:
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nodes: 2
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name: "after_"
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- command: moveL
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args:
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pose: [0.021, 0.49545999999999996, 0.002, 1.613, -3.933, -1.67]
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speed: 0.05
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acceleration: 0.75
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- command: log
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args:
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level: INFO
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message: Gripper should open here!
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- command: sleep
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args:
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secs: 1
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- command: moveL
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args:
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pose: [-0.009, 0.46545, 0.002, 0.543, -3.592, -2.297]
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speed: 0.05
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acceleration: 0.75
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- command: moveJ
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args:
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q: [5.923472948343555, 0.032637657012293965, 0.2590068609959585, -0.2935643801854462, -2.7157323161031766, 4.71238898038469]
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speed: 1.0
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acceleration: 4.0
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- command: sync
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args:
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nodes: 2
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name: "something"
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- command: moveJ
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args:
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q: [5.7386425805573555, -0.536165146212658, 1.6278685933351111, -2.661452576366153, -1.5683528658421044, 1.0096729722787197]
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speed: 1.0
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acceleration: 4.0
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