1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/scripts/fast_present_joints.yaml	Thu Jul 08 16:51:39 2010 +0400
     1.3 @@ -0,0 +1,89 @@
     1.4 +#!/usr/bin/env ssc32yaml.py
     1.5 +# -*- mode: yaml -*-
     1.6 +# vim:set et ts=2 sw=2:
     1.7 +!Script
     1.8 +time: 0.3
     1.9 +movements:
    1.10 +- !Movement &go_up
    1.11 +  grip:
    1.12 +    pos: 2400
    1.13 +  joint0:
    1.14 +    deg: 0
    1.15 +  joint1:
    1.16 +    deg: -110
    1.17 +  joint2:
    1.18 +    deg: 45
    1.19 +  joint3:
    1.20 +    deg: -35
    1.21 +  joint4:
    1.22 +    deg: 0
    1.23 +  wait: 2.0
    1.24 +- !Movement &move_joint0_0
    1.25 +  joint0:
    1.26 +    deg: -60
    1.27 +  wait: 1.0
    1.28 +- !Movement &move_joint0_1
    1.29 +  joint0:
    1.30 +    deg: 60
    1.31 +  wait: 1.0
    1.32 +- *go_up
    1.33 +- !Movement &move_joint1_0
    1.34 +  joint1:
    1.35 +    deg: -30
    1.36 +  wait: 1.0
    1.37 +- !Movement &move_joint1_1
    1.38 +  joint1:
    1.39 +    deg: -140
    1.40 +  wait: 1.0
    1.41 +- *go_up
    1.42 +- !Movement &move_joint2_0
    1.43 +  joint2:
    1.44 +    deg: -45
    1.45 +  wait: 1.0
    1.46 +- !Movement &move_joint2_1
    1.47 +  joint2:
    1.48 +    deg: 45
    1.49 +  wait: 1.0
    1.50 +- *go_up
    1.51 +- !Movement &move_joint3_0
    1.52 +  joint3:
    1.53 +    deg: -60
    1.54 +  wait: 1.0
    1.55 +- !Movement &move_joint3_1
    1.56 +  joint3:
    1.57 +    deg: 60
    1.58 +  wait: 1.0
    1.59 +- *go_up
    1.60 +- !Movement &move_joint4_0
    1.61 +  joint4:
    1.62 +    deg: -80
    1.63 +  wait: 1.0
    1.64 +- !Movement &move_joint4_1
    1.65 +  joint4:
    1.66 +    deg: 80
    1.67 +  wait: 1.0
    1.68 +- *go_up
    1.69 +- !Movement &move_grip_0
    1.70 +  grip:
    1.71 +    pos: 1200
    1.72 +  wait: 2.0
    1.73 +- !Movement &move_grip_1
    1.74 +  grip:
    1.75 +    pos: 2400
    1.76 +  wait: 1.0
    1.77 +- !Movement &go_default
    1.78 +  grip:
    1.79 +    pos: 2400
    1.80 +  joint0:
    1.81 +    deg: 0.0
    1.82 +  joint1:
    1.83 +    deg: -130.0
    1.84 +  joint2:
    1.85 +    deg: -45.0
    1.86 +  joint3:
    1.87 +    deg: 55.0
    1.88 +  joint4:
    1.89 +    deg: 0.0
    1.90 +  time: 1.0
    1.91 +  wait: 0
    1.92 +