pyssc32

view scripts/carry.yaml @ 26:6fd996b08cb8

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qtarm: add move info
author Vladimir Ermakov <vooon341@gmail.com>
date Thu Oct 07 14:15:21 2010 +0400 (19 months ago)
parents 567eabb19e2c
children
line source
1 #!/usr/bin/env ssc32yaml.py
2 # -*- mode: yaml -*-
3 # vim:set et ts=2 sw=2:
4 !Script
5 time: 1.0
6 movements:
7 - !Movement &release
8 grip:
9 pos: 2400
10 time: 1.0
11 wait: 2.0
12 - !Movement &lift_up
13 joint3:
14 deg: -20
15 joint2:
16 deg: 20
17 joint1:
18 deg: -60
19 wait: 1.0
20 time: 1.0
21 - !Movement &to_object
22 joint0:
23 deg: -60.0
24 time: 1.0
25 wait: 1.0
26 - !Movement &lift_down
27 joint1:
28 deg: -40
29 joint2:
30 deg: 0
31 joint3:
32 deg: -40
33 time: 1.0
34 wait: 1.0
35 - !Movement &grab
36 grip:
37 pos: 1200
38 time: 1.0
39 wait: 1.0
40 - *lift_up
41 - !Movement &to_target
42 joint0:
43 deg: 60.0
44 time: 2.0
45 wait: 1.0
46 - *lift_down
47 - *release
48 - *lift_up
49 - !Movement &go_default
50 grip:
51 pos: 2400
52 joint0:
53 deg: 0.0
54 joint1:
55 deg: -130.0
56 joint2:
57 deg: -45.0
58 joint3:
59 deg: 55.0
60 joint4:
61 deg: 0.0
62 time: 1.0
63 wait: 0
64
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