pyssc32

view scripts/fast_present_joints.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)
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1 #!/usr/bin/env ssc32yaml.py
2 # -*- mode: yaml -*-
3 # vim:set et ts=2 sw=2:
4 !Script
5 time: 0.3
6 movements:
7 - !Movement &go_up
8 grip:
9 pos: 2400
10 joint0:
11 deg: 0
12 joint1:
13 deg: -110
14 joint2:
15 deg: 45
16 joint3:
17 deg: -35
18 joint4:
19 deg: 0
20 wait: 2.0
21 - !Movement &move_joint0_0
22 joint0:
23 deg: -60
24 wait: 1.0
25 - !Movement &move_joint0_1
26 joint0:
27 deg: 60
28 wait: 1.0
29 - *go_up
30 - !Movement &move_joint1_0
31 joint1:
32 deg: -30
33 wait: 1.0
34 - !Movement &move_joint1_1
35 joint1:
36 deg: -140
37 wait: 1.0
38 - *go_up
39 - !Movement &move_joint2_0
40 joint2:
41 deg: -45
42 wait: 1.0
43 - !Movement &move_joint2_1
44 joint2:
45 deg: 45
46 wait: 1.0
47 - *go_up
48 - !Movement &move_joint3_0
49 joint3:
50 deg: -60
51 wait: 1.0
52 - !Movement &move_joint3_1
53 joint3:
54 deg: 60
55 wait: 1.0
56 - *go_up
57 - !Movement &move_joint4_0
58 joint4:
59 deg: -80
60 wait: 1.0
61 - !Movement &move_joint4_1
62 joint4:
63 deg: 80
64 wait: 1.0
65 - *go_up
66 - !Movement &move_grip_0
67 grip:
68 pos: 1200
69 wait: 2.0
70 - !Movement &move_grip_1
71 grip:
72 pos: 2400
73 wait: 1.0
74 - !Movement &go_default
75 grip:
76 pos: 2400
77 joint0:
78 deg: 0.0
79 joint1:
80 deg: -130.0
81 joint2:
82 deg: -45.0
83 joint3:
84 deg: 55.0
85 joint4:
86 deg: 0.0
87 time: 1.0
88 wait: 0
89
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