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Robot_2.py
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Robot_2.py
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#인트로
dType.SetPTPJointParamsEx(api,270,270,270,270,270,270,270,270,1)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 20, 20, current_pose[7], 1)
dType.SetWAITCmdEx(api, 1.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 20, current_pose[7], 1)
dType.SetWAITCmdEx(api, 1.5, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-30), 20, 20, current_pose[7], 1)
dType.SetWAITCmdEx(api, 1.6, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 20, current_pose[7], 1)
#왜들그리다운돼있어?/뭐가문제야saysomething
dType.SetPTPJointParamsEx(api,2000,2000,2000,2000,2000,2000,2000,2000,1)
dType.SetWAITCmdEx(api, 1, 1)
for count in range (4):
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, -10, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.1 , 1)
dType.SetPTPCmdEx(api, 4, 0, 10, 40, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.1, 1)
#분위기가겁나싸해
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500,1500,1500,1500,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 0, 30, current_pose[7], 1)
dType.SetPTPCmdEx(api, 4, 30, 20, 30, current_pose[7], 1)
dType.SetPTPCmdEx(api, 4, 30, 0, 30, current_pose[7], 1)
#요새는이런게유행인가
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500,1500,1500,1500,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 25, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 50, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 25, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 50, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 25, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
# 왜들그리재미없어?
dType.SetPTPJointParamsEx(api,1400,1400,1400,1400,1400, 1400,1400,1400,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 40, current_pose[7], 1)
#아그건나도마찬가지
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-90), 10, 10, 90, 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.1, 1)
dType.SetPTPJointParamsEx(api,700,700,700,700,700,700,700,700,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-90), 0, 40, 150, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-90), 0, 40, current_pose[7], 1)
#TellmewhatIgottode
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 90, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500, 1500,1500,1500,1)
#급한대로블루투스켜
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 50, current_pose[7], 1)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, current_pose[4], current_pose[5], current_pose[6], 9, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.5, 1)
#아무노래나일단틀어
current_pose = dType.GetPose(api)
dType.SetPTPJointParamsEx(api,2000,2000,2000,2000,2000,2000,2000,2000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
for count in range(2):
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
#아무거나신나는걸로
dType.SetPTPJointParamsEx(api,2000,2000,2000,2000,2000,2000,2000,2000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
for count in range(2):
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
#아무렇게나춤춰/아무렇지않아보이게
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-40), 0, 0, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 20, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 20, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 40, 0, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 20, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
#아무생각하기싫어
current_pose = dType.GetPose(api)
dType.SetPTPJointParamsEx(api,2200,2200,2200,2000,2200,2200,2200,2200,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
for count in range(2):
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
#아무개로살래잠시
dType.SetPTPCmdEx(api, 4, 90, 0, 40, 50, 1)
dType.SetPTPCmdEx(api, 4, 90, 40, 40, 0, 1)
#I'msickandtiredofmyeveryday
dType.SetPTPJointParamsEx(api,700,700,700,700,700,700,700,700,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 40, 20, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-40), 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 40, 20, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 20, 40, current_pose[7], 1)
#Keepitup한곡더
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500,1500,1500,1500,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 20, 10, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.3, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.3, 1)
# 아무노래나 일단 틀어
dType.SetPTPJointParamsEx(api,2200,2200,2200,2200,2200,2200,2200,2200,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
for count in range(2):
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
# 아무렴 어때 It’s so boring
dType.SetPTPJointParamsEx(api,700,700,700,700,700,700,700,700,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-40), 20, (-10), current_pose[7], 1)
dType.SetPTPCmdEx(api, 4, (-40), 20, 20, -150, 1)
# 아무래도 refresh가 시급한 듯해 쌓여가 스트레스가
dType.SetPTPJointParamsEx(api,1000,1000,1000,1000,1000,1000,1000,1000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-40), 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 40, 20, 70, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 40, 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-60), 20, (-15), current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-60), 20, (-10), current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-60), 20, (-5), current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-60), 20, 0, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.3, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
# 배꼽빠질만큼만
dType.SetPTPJointParamsEx(api,1200,1200,1200,1200,1200,1200,1200,1200,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-60), 20, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-70), 20, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-70), 50, 0, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-70), 50, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-70), 50, 20, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.4, 1)
# 폭소하고 싶은 날이야
dType.SetPTPJointParamsEx(api,1000,1000,1000,1000,1000,1000,1000,1000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-10), 20, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1400,1400,1400,1400,1400, 1400,1400,1400,1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, -10, 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 20, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 10, 20, 20, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.1, 1)
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 70, 20, -15, current_pose[7], 1)
# What up my dawgs 어디야 너희
dType.SetPTPJointParamsEx(api,700,700,700,700,700,700,700,700,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-50), 20, 20, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1650,1650,1650,1650,1650,1650,1650,1650,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-60), 20, -5, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-70), 20, 20, current_pose[7], 1)
# 올 때 병맥주랑 까까 몇 개 사 와 huh
dType.SetPTPJointParamsEx(api,1000,1000,1000,1000,1000,1000,1000,1000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 40, 35, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,2000,2000,2000,2000,2000,2000,2000,2000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 40, 25, current_pose[7], 1)
dType.SetPTPCmdEx(api, 4, 0, 40, 15, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.3, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 40, 15, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,2500,2500,2500,2500,2500,2500,2500,2500,1)
dType.SetPTPCmdEx(api, 4, 0, 40, 5, 0, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.1, 1)
dType.SetPTPCmdEx(api, 4, 0, 40, 40, 0, 1)
# 구미가 잘 안 당겨
dType.SetPTPJointParamsEx(api,1000,1000,1000,1000,1000,1000,1000,1000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-7), 40, 25, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 7, 40, 45, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-7), 40, 45, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 7, 40, 25, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,2700,2700,2700,2700,2700,2700,2700,2700,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 40, 25, 150, 1)
# 우리집 거실로 빨랑 모여
dType.SetPTPJointParamsEx(api,1000,1000,1000,1000,1000,1000,1000,1000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-50), 0, 30, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1300,1300,1300,1300,1300,1300,1300,1300,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 0, 30, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
# 외부인은 요령껏 차단 시켜
dType.SetPTPCmdEx(api, 4, (-90), 0, 30, 0, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.1, 1)
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500,1500,1500,1500,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-50), 0, 40, current_pose[7], 1)
# 밤새 수다 떨 시간도 모자라
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-40), 0, 30, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-30), 0, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 10, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1400,1400,1400,1400,1400,1400,1400,1400,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-10), 0, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500,1500,1500,1500,1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, (-10), current_pose[7], 1)
dType.SetWAITCmdEx(api, 8.3, 1)
dType.SetPTPCmdEx(api, 4, 0, 20, 20, 0, 1)
#왜들그리다운돼있어?/뭐가문제야saysomething
dType.SetPTPJointParamsEx(api,2000,2000,2000,2000,2000,2000,2000,2000,1)
dType.SetWAITCmdEx(api, 0.2, 1)
for count in range (4):
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, -10, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.1 , 1)
dType.SetPTPCmdEx(api, 4, 0, 10, 40, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.1, 1)
#분위기가겁나싸해
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500,1500,1500,1500,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 0, 30, current_pose[7], 1)
dType.SetPTPCmdEx(api, 4, 30, 20, 30, current_pose[7], 1)
dType.SetPTPCmdEx(api, 4, 30, 0, 30, current_pose[7], 1)
#요새는이런게유행인가
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500,1500,1500,1500,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 25, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 50, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 25, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 50, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 25, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
# 왜들그리재미없어?
dType.SetPTPJointParamsEx(api,1400,1400,1400,1400,1400, 1400,1400,1400,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 40, current_pose[7], 1)
#아그건나도마찬가지
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-90), 10, 10, 90, 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.1, 1)
dType.SetPTPJointParamsEx(api,700,700,700,700,700,700,700,700,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-90), 0, 40, 150, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-90), 0, 40, current_pose[7], 1)
#TellmewhatIgottode
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 90, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500, 1500,1500,1500,1)
#급한대로블루투스켜
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 50, current_pose[7], 1)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, current_pose[4], current_pose[5], current_pose[6], 9, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.5, 1)
#아무노래나일단틀어
current_pose = dType.GetPose(api)
dType.SetPTPJointParamsEx(api,2000,2000,2000,2000,2000,2000,2000,2000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
for count in range(2):
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
#아무거나신나는걸로
dType.SetPTPJointParamsEx(api,2000,2000,2000,2000,2000,2000,2000,2000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
for count in range(2):
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
#아무렇게나춤춰/아무렇지않아보이게
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-40), 0, 0, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 20, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 20, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 40, 0, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 20, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
#아무생각하기싫어
current_pose = dType.GetPose(api)
dType.SetPTPJointParamsEx(api,2200,2200,2200,2000,2200,2200,2200,2200,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
for count in range(2):
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
#아무개로살래잠시
dType.SetPTPCmdEx(api, 4, 90, 0, 40, 50, 1)
dType.SetPTPCmdEx(api, 4, 90, 40, 40, 0, 1)
#I'msickandtiredofmyeveryday
dType.SetPTPJointParamsEx(api,700,700,700,700,700,700,700,700,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 40, 20, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-40), 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 40, 20, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 20, 40, current_pose[7], 1)
#Keepitup한곡더
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500,1500,1500,1500,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 20, 10, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.3, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.3, 1)
#떠나지못할바엔
dType.SetPTPJointParamsEx(api,600,600,600,600,600,600,600,600,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-30), 0, 30, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 30, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1200,1200,1200,1200,1200,1200,1200,1200,1)
dType.SetPTPCmdEx(api, 4, (-30), 0, 0, 120, 1)
dType.SetPTPCmdEx(api, 4, 0, 0, 0, 0, 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.79, 1)
#창밖은쳐다도안봐
dType.SetPTPJointParamsEx(api,600,600,600,600,600,600,600,600,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 0, 30, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, -30, 30, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1200,1200,1200,1200,1200,1200,1200,1200,1)
dType.SetPTPCmdEx(api, 4, 30, 0, 0, -120, 1)
dType.SetPTPCmdEx(api, 4, 0, 0, 0, 0, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.6, 1)
#회까닥해서추태를들어도
dType.SetPTPJointParamsEx(api,550,550,550,550,550,550,550,550,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 10, 0, (-10), current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 10, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 0, (-10), current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 40, 0, 10, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 0, 30, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 10, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 10, 0, 30, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 10, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 10, current_pose[7], 1)
#Noworrieatall (번갈아가며박수)
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
for count in range(2):
dType.SetWAITCmdEx(api, 0.5, 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.25, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.25, 1)
#이미지왜챙겨그래봤자우리끼린데Ohh
dType.SetPTPJointParamsEx(api,1200,1200,1200,1200,1200,1200,1200,1200,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, (-20), current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 0, current_pose[7], 1)
#늦기전에막판스퍼트~이십대가얼마안남았어
dType.SetWAITCmdEx(api, 0.45, 1)
dType.SetPTPJointParamsEx(api,1200,1200,1200,1200,1200,1200,1200,1200,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 20, (-15), current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 20, (-15), current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetPTPCmdEx(api, 4, (-20), 20, 25, 180, 1)
current_pose = dType.GetPose(api)
dType.SetPTPJointParamsEx(api,1200,1200,1200,1200,1200,1200,1200,1200,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 20, (-15), current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 20, (-15), current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 20, 25, 0, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
#편한옷으로갈아입어
dType.SetWAITCmdEx(api, 0.7, 1)
#Youlooknice~get'emhigh얼핏보면그냥코미디
dType.SetPTPJointParamsEx(api,1200,1200,1200,1200,1200,1200,1200,1200,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-30), 20, 55, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 20, 55, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-30), 10, 10, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1100,1100,1100,1100,1100,1100,1100,1100,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-40), 10, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-50), 10, 10, current_pose[7], 1)
#이렇게무해한파틴처음이지
dType.SetWAITCmdEx(api, 1.2, 1)
dType.SetPTPJointParamsEx(api,1100,1100,1100,1100,1100,1100,1100,1100,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-50), 10, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-50), 10, 10, current_pose[7], 1)
#만감이교차하는새벽2시경
dType.SetPTPJointParamsEx(api,1100,1100,1100,1100,1100,1100,1100,1100,1)
dType.SetWAITCmdEx(api, 1.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, -50, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1100,1100,1100,1100,1100,1100,1100,1100,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, -70, 20, -10, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, -90, 30, -10, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 30, -10, current_pose[7], 1)
#술잔과감정이소용돌이쳐
dType.SetPTPJointParamsEx(api,1200,1500,1200,1500,1200,1500,1200,1500,1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetPTPCmdEx(api, 4, 0, 30, 20, 150, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 30, -10, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1000,1000,1000,1000,1000,1000,1000,1000,1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetPTPCmdEx(api, 4, 0, 10, 50, 0, 1)
dType.SetWAITCmdEx(api, 0.1, 1)
#왜들그리다운돼있어?/뭐가문제야saysomething
dType.SetPTPJointParamsEx(api,2000,2000,2000,2000,2000,2000,2000,2000,1)
for count in range (4):
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 40, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.1 , 1)
dType.SetPTPCmdEx(api, 4, 0, 10, -10, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.1, 1)
#분위기가겁나싸해
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500,1500,1500,1500,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 0, 30, current_pose[7], 1)
dType.SetPTPCmdEx(api, 4, 30, 20, 30, current_pose[7], 1)
dType.SetPTPCmdEx(api, 4, 30, 0, 30, current_pose[7], 1)
#요새는이런게유행인가
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500,1500,1500,1500,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 25, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 50, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 25, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 50, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 50, 30, 25, current_pose[7], 1)
dType.SetWAITCmdEx(api, 0.2, 1)
# 왜들그리재미없어?
dType.SetPTPJointParamsEx(api,1400,1400,1400,1400,1400, 1400,1400,1400,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 40, current_pose[7], 1)
#아그건나도마찬가지
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-90), 10, 10, 90, 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.1, 1)
dType.SetPTPJointParamsEx(api,700,700,700,700,700,700,700,700,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-90), 0, 40, 150, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-90), 0, 40, current_pose[7], 1)
#TellmewhatIgottode
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 90, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500, 1500,1500,1500,1)
#급한대로블루투스켜
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 50, current_pose[7], 1)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, current_pose[4], current_pose[5], current_pose[6], 9, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.5, 1)
#아무노래나일단틀어
current_pose = dType.GetPose(api)
dType.SetPTPJointParamsEx(api,2000,2000,2000,2000,2000,2000,2000,2000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
for count in range(2):
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
#아무거나신나는걸로
dType.SetPTPJointParamsEx(api,2000,2000,2000,2000,2000,2000,2000,2000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
for count in range(2):
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
#아무렇게나춤춰/아무렇지않아보이게
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-40), 0, 0, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-20), 0, 20, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 20, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 40, 0, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 20, 0, 20, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
#아무생각하기싫어
current_pose = dType.GetPose(api)
dType.SetPTPJointParamsEx(api,2200,2200,2200,2000,2200,2200,2200,2200,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 10, 0, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
for count in range(2):
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
#아무개로살래잠시
dType.SetPTPCmdEx(api, 4, 90, 0, 40, 50, 1)
dType.SetPTPCmdEx(api, 4, 90, 40, 40, 0, 1)
#I'msickandtiredofmyeveryday
dType.SetPTPJointParamsEx(api,700,700,700,700,700,700,700,700,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 40, 20, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-40), 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 40, 20, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 20, 40, current_pose[7], 1)
#Keepitup한곡더
dType.SetPTPJointParamsEx(api,1500,1500,1500,1500,1500,1500,1500,1500,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 20, 10, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.3, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.3, 1)
# 아무노래나 일단
dType.SetPTPJointParamsEx(api,800,800,800,800,800,800,800,800,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-9), 20, 15, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 9, 20, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-9), 20, 25, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 9, 24, 30, current_pose[7], 1)
# 03:09 ~ 03:18
dType.SetPTPJointParamsEx(api,1400,1400,1400,1400,1400,1400,1400,1400,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 90, (-5), (-15), 101, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 90, 40, (-15), current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 90, 40, 60, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 40, -10, -150, 1)
dType.SetPTPJointParamsEx(api,1700,1700,1700,1700,1700,1700,1700,1700,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 40, 10, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 40, 40, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1400,1400,1400,1400,1400,1400,1400,1400,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, -90, (-5), (-15), 101, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, -90, 40, (-15), current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, -90, 40, 60, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 40, -10, -150, 1)
dType.SetPTPJointParamsEx(api,1700,1700,1700,1700,1700,1700,1700,1700,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 40, 10, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 40, 40, current_pose[7], 1)
# 03:19 ~ 03:20 / 2
dType.SetPTPJointParamsEx(api,1000,1000,1000,1000,1000,1000,1000,1000,1)
dType.SetWAITCmdEx(api, 0.4, 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-30), 40, (-15), 0, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 40, 40, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
# 03:20 ~ 03:26
dType.SetPTPJointParamsEx(api,2000,2000,2000,2000,2000,2000,2000,2000,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 40, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 40, 20, current_pose[7], 1)
dType.SetPTPJointParamsEx(api,1700,1700,1700,1700,1700,1700,1700,1700,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 40, (-15), current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 40, 40, 150, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, (-5), 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, (-5), (-15), current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 40, 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, -30, 40, 40, 0, 1)
dType.SetPTPJointParamsEx(api,2200,2200,2200,2200,2200,2200,2200,2200,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, -30, (-5), 40, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, -30, (-5), (-15), 150, 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, -30, (-5), (-15), current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.2, 1)
# 1- 아무노래 아무노래 아무노래나 틀어봐
dType.SetPTPJointParamsEx(api,1800,1800,1800,1800,1800,1800,1800,1800,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-30), 0, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-30), 0, 10, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 10, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-30), 0, 20, 90, 1)
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetPTPJointParamsEx(api,1000,1200,1000,1200,1000,1200,1000,1200,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-30), 40, 20, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 30, 30, 15, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, (-10), 20, 10, current_pose[7], 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 0, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 50, 0, 1)
# 2- 아무노래 아무노래 아무노래나 틀어봐
dType.SetPTPJointParamsEx(api,800,1000,800,1000,800,1000,800,1000,1)
for count in range(4):
dType.SetEndEffectorGripperEx(api, 1, 0)
dType.SetWAITCmdEx(api, 0.45, 1)
dType.SetEndEffectorGripperEx(api, 1, 1)
dType.SetWAITCmdEx(api, 0.58, 1)
# 3- 아무노래 아무노래 아무노래나 틀어봐
dType.SetPTPJointParamsEx(api,1000,1200,1000,1200,1000,1200,1000,1200,1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 25, 50, current_pose[7], 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 4, 0, 0, 0, current_pose[7], 1)