pyssc32

view scripts/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: 1.0
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 time: 1.0
21 wait: 2.0
22 - !Movement &move_joint0_0
23 joint0:
24 deg: -60
25 wait: 1.0
26 time: 1.0
27 - !Movement &move_joint0_1
28 joint0:
29 deg: 60
30 wait: 1.0
31 time: 2.0
32 - *go_up
33 - !Movement &move_joint1_0
34 joint1:
35 deg: -30
36 wait: 1.0
37 time: 1.0
38 - !Movement &move_joint1_1
39 joint1:
40 deg: -140
41 wait: 1.0
42 time: 2.0
43 - *go_up
44 - !Movement &move_joint2_0
45 joint2:
46 deg: -45
47 wait: 1.0
48 time: 1.0
49 - !Movement &move_joint2_1
50 joint2:
51 deg: 45
52 wait: 1.0
53 time: 2.0
54 - *go_up
55 - !Movement &move_joint3_0
56 joint3:
57 deg: -60
58 wait: 1.0
59 time: 1.0
60 - !Movement &move_joint3_1
61 joint3:
62 deg: 60
63 wait: 1.0
64 time: 2.0
65 - *go_up
66 - !Movement &move_joint4_0
67 joint4:
68 deg: -80
69 wait: 1.0
70 time: 1.0
71 - !Movement &move_joint4_1
72 joint4:
73 deg: 80
74 wait: 1.0
75 time: 2.0
76 - *go_up
77 - !Movement &move_grip_0
78 grip:
79 pos: 1200
80 wait: 2.0
81 time: 1.0
82 - !Movement &move_grip_1
83 grip:
84 pos: 2400
85 wait: 1.0
86 time: 1.0
87 - !Movement &go_default
88 grip:
89 pos: 2400
90 joint0:
91 deg: 0.0
92 joint1:
93 deg: -130.0
94 joint2:
95 deg: -45.0
96 joint3:
97 deg: 55.0
98 joint4:
99 deg: 0.0
100 time: 1.0
101 wait: 0
102
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