def unnamed(): set_gravity([0.0, 0.0, 9.82]) modbus_add_signal("192.168.0.1", 2, 8192, 1, "MODBUS_1", False) modbus_set_signal_update_frequency("MODBUS_1", 10) modbus_add_signal("192.168.0.1", 0, 1, 0, "MODBUS_2", False) modbus_set_signal_update_frequency("MODBUS_2", 10) modbus_add_signal("192.168.0.1", 1, 2, 0, "MODBUS_3", False) modbus_set_signal_update_frequency("MODBUS_3", 10) modbus_add_signal("192.168.0.1", 254, 8193, 1, "MODBUS_4", False) modbus_set_signal_update_frequency("MODBUS_4", 10) modbus_add_signal("192.168.0.1", 255, 8194, 1, "MODBUS_5", False) modbus_set_signal_update_frequency("MODBUS_5", 10) modbus_add_signal("192.168.0.1", 255, 8195, 1, "MODBUS_6", False) modbus_set_signal_update_frequency("MODBUS_6", 10) modbus_add_signal("192.168.0.1", 255, 0, 0, "MODBUS_7", False) modbus_set_signal_update_frequency("MODBUS_7", 10) modbus_add_signal("192.168.0.1", 255, 3, 0, "MODBUS_8", False) modbus_set_signal_update_frequency("MODBUS_8", 10) modbus_add_signal("192.168.0.1", 255, 4, 0, "MODBUS_9", False) modbus_set_signal_update_frequency("MODBUS_9", 10) modbus_add_signal("192.168.0.1", 255, 5, 0, "MODBUS_10", False) modbus_set_signal_update_frequency("MODBUS_10", 10) modbus_add_signal("192.168.0.1", 255, 6, 0, "MODBUS_11", False) modbus_set_signal_update_frequency("MODBUS_11", 10) modbus_add_signal("192.168.0.1", 255, 7, 0, "MODBUS_12", False) modbus_set_signal_update_frequency("MODBUS_12", 10) modbus_set_runstate_dependent_choice("MODBUS_1",0) modbus_set_runstate_dependent_choice("MODBUS_4",0) modbus_set_runstate_dependent_choice("MODBUS_5",0) modbus_set_runstate_dependent_choice("MODBUS_6",0) set_safety_mode_transition_hardness(1) set_tcp(p[0.0,0.0,0.0615,0.0,0.0,0.0]) set_payload(0.45,[0.007,-0.034,0.015]) set_standard_analog_input_domain(0, 1) set_standard_analog_input_domain(1, 1) set_tool_analog_input_domain(0, 1) set_tool_analog_input_domain(1, 1) set_analog_outputdomain(0, 0) set_analog_outputdomain(1, 0) set_input_actions_to_default() set_tool_communication(False, 115200, 0, 1, 1.5, 3.5) set_tool_output_mode(0) set_tool_digital_output_mode(0, 1) set_tool_digital_output_mode(1, 1) set_tool_voltage(0) global A=False global couny=0 global bomba=1 global C=False global B=True global Alex=p[0.17074863363632067,-0.2996429790664837,0.17427923812230156,-0.0047789014553513386,-0.0031457988483517166,-2.22559205211391] global Arturo=p[0.19105146050323332,-0.3772488947151562,0.17711074421141185,-0.022415012034050483,0.061372614645314544,-0.69431234139474] global Plane_1=p[0.19841526795125985,-0.3860460965200245,0.1792715827589607,0.004450496439859115,0.03690227464678032,-2.2344175300268243] global Plane_2=p[0.3114766211964375,-0.11355839149138873,0.17690573268430537,0.012234702783220298,0.015434046990021872,-2.240687187674918] global Plane_3=p[-0.10733546861365917,-0.43430157168829164,0.00824007051489098,-2.8171771219291606,-1.3622536748930407,-0.015394837679856915] rtde_set_watchdog("speed_slider_mask", 10.0, "ignore") global Waypoint_1_p=p[.537412640700, -.514916891993, .613198163416, -.667515310214, 1.605127080163, -1.692042745449] global Waypoint_1_q=[-0.5563481489764612, -2.0311247311034144, -1.2274160385131836, 0.21752850591625972, 1.4420323371887207, -6.201381508504049] global Waypoint_2_p=p[.552747970455, -.480376027302, .659126034786, -.665187729997, 1.516362800067, -1.688514315808] global Waypoint_2_q=[-0.5033434073077601, -2.012020250360006, -1.1613283157348633, 0.19462506353344722, 1.4376211166381836, -6.201309029256002] global Waypoint_3_p=p[.586726969279, -.430809429784, .666772644725, -.704894649710, 1.590201067686, -1.638583072061] global Waypoint_3_q=[-0.3973811308490198, -1.9746858082213343, -1.1665639877319336, 0.08625142156567378, 1.3364834785461426, -6.201369110737936] global Waypoint_4_p=p[.610374673615, -.404489683415, .616548430320, -.692254257085, 1.646380971439, -1.647328134064] global Waypoint_4_q=[-0.32647401491274053, -1.9853188000121058, -1.2666864395141602, 0.1655561166950683, 1.2252330780029297, -6.201369110737936] global Waypoint_5_p=p[.548091075067, -.509495540082, .441562013147, -.678167745920, 1.627669854721, -1.676828410926] global Waypoint_5_q=[-0.5385964552508753, -2.1566230259337367, -1.4823713302612305, 0.5750438409992675, 1.4252982139587402, -6.200194183980123] global Waypoint_6_p=p[.459285110386, -.609385138274, .615605262701, -.701080828909, 1.675717775628, -1.665920865563] global Waypoint_6_q=[-0.7649295965777796, -2.0705963573851527, -1.1360063552856445, 0.09849803029980464, 1.6400747299194336, -6.200325791035787] global Waypoint_7_p=p[.480377604843, -.577557493439, .674821300621, -.719147443619, 1.642372908045, -1.651934959645] global Waypoint_7_q=[-0.7095311323748987, -2.0402685604491175, -1.036025047302246, -0.01844532907519536, 1.617485523223877, -6.200493637715475] global Waypoint_8_p=p[.508418478519, -.545656173707, .665506868584, -.754833875872, 1.535315378790, -1.633093355493] global Waypoint_8_q=[-0.6589091459857386, -2.0436793766417445, -1.0769529342651367, 0.08294932424511714, 1.6489934921264648, -6.200529877339498] global Waypoint_9_p=p[.528875529118, -.534373958608, .628086763716, -.761753253277, 1.589222502099, -1.609535680104] global Waypoint_9_q=[-0.6185253302203577, -2.0426022015013636, -1.1560335159301758, 0.11483971654858394, 1.5956950187683105, -6.200566116963522] while (True): $ 1 "Robot Program" $ 2 "MoveP" $ 3 "Waypoint_1" movep(Waypoint_1_p, a=1.2, v=0.25, r=0.025) $ 4 "Waypoint_2" movep(Waypoint_2_p, a=1.2, v=0.25, r=0.025) $ 5 "Waypoint_3" movep(Waypoint_3_p, a=1.2, v=0.25, r=0.025) $ 6 "Waypoint_4" movep(Waypoint_4_p, a=1.2, v=0.25, r=0.0) $ 7 "MoveL" $ 8 "Waypoint_5" movel(Waypoint_5_p, a=1.2, v=0.25) $ 9 "Waypoint_6" movel(Waypoint_6_p, a=1.2, v=0.25) $ 10 "MoveP" $ 11 "Waypoint_7" movep(Waypoint_7_p, a=1.2, v=0.25, r=0.025) $ 12 "Waypoint_8" movep(Waypoint_8_p, a=1.2, v=0.25, r=0.016999999999999998) $ 13 "Waypoint_9" movep(Waypoint_9_p, a=1.2, v=0.25, r=0.0) end end