SetWRF(0.000, 0.000, 0.000, -0.000, 0.000, -0.000)
SetTRF(35, 0.000, 126.000, 0.000, 90.000, 0.000)
MoveJoints(-13.717, -39.66, 52.146, 0, -15, -3.65)


Gripperclose
SetJointAcc(70.000)
SetJointVel(70.000)
SetCartAcc(70.000)
SetCartLinVel(70.000)
setblending(0.0)

MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, -166.161)
MoveLin(227.119, -52.564, 302.416, 175.856, 1.573, -166.161)
MoveLin(230.182, -60.624, 191.169, 175.856, 1.573, -166.161)
MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, -166.161)
SetJointAcc(80.000)
SetJointVel(70.000)
SetCartAcc(80.000)
SetCartLinVel(70.000)

MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, -137.226)
MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, 164.919)
MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, -137.226)
MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, -166.161)
//delay(0.500)
MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, -166.161)
MoveLin(227.119, -52.564, 302.416, 175.856, 1.573, -166.161)
MoveLin(230.182, -60.624, 191.169, 175.856, 1.573, -166.161)
MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, -166.161)
//delay(0.500)
MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, -137.226)
MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, 164.919)
MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, -137.226)
MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, -166.161)

//SetJointAcc(99.00)
//SetJointVel(99.000)
//SetCartAcc(99.000)
//SetCartLinVel(99.000)

MoveLin(229.63, -59.171, 211.229, 169.968, -0.878, -166.101)
MoveLin(229.63, -59.171, 211.229, 175.683, 3.92, -166.626)
MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, -166.161)
MoveLin(229.63, -59.171, 211.229, 177.123, -3.565, -166.139)
MoveLin(229.63, -59.171, 211.229, 174.539, 3.726, -166.376)
MoveLin(229.63, -59.171, 211.229, 175.856, 1.573, -166.161)
SetJointAcc(50.000)
SetJointVel(10.000)
SetCartAcc(50.000)
SetCartLinVel(10.000)
MovePose(227.311, -60.332, 184.836, 177.482, -5.016, -166.112)

//throw
MovePose(294.855, -61.342, 238.81, 169.297, -2.808, -165.833)

SetJointAcc(50.000)
SetJointVel(99.000)
SetCartAcc(50.000)
SetCartLinVel(99.000)
MovePose(295.125, 98.267, 247.692, 132.047, 23.369, 178.619)
MovePose(229.285, -58.259, 223.788, 175.857, 1.572, -166.146)

//celebrate
MovePose(172.588, -47.883, 398.772, 164.195, 37.814, -159.496)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
MovePose(140.186, -36.511, 438.945, 164.195, 37.814, -159.496)
MovePose(124.856, -15.851, 519.183, 125.53, 78.115, -125.23)
MovePose(21.469, 25.362, 524.834, -64.775, 36.449, 75.951)
MovePose(5.006, 32.849, 524.834, -69.786, 7.181, 88.952)
MovePose(42.05, 239.903, 235.498, 161.619, 1.913, 98.946)
MovePose(37.364, 231.997, 436.718, -137.924, 10.684, 96.096)
MovePose(183.271, 210.586, 313.256, -138.913, -14.642, 141.667)
MovePose(240.006, 16.198, 389.776, -125.073, 36.33, 159.894)
MoveJoints(3.151, 9.368, -5.913, 52.51, -15.99, -3.65)
//repeat
MovePose(140.186, -36.511, 438.945, 164.195, 37.814, -159.496)
MovePose(124.856, -15.851, 519.183, 125.53, 78.115, -125.23)
MovePose(21.469, 25.362, 524.834, -64.775, 36.449, 75.951)
MovePose(5.006, 32.849, 524.834, -69.786, 7.181, 88.952)
MovePose(42.05, 239.903, 235.498, 161.619, 1.913, 98.946)
MovePose(37.364, 231.997, 436.718, -137.924, 10.684, 96.096)
MovePose(183.271, 210.586, 313.256, -138.913, -14.642, 141.667)
MovePose(240.006, 16.198, 389.776, -125.073, 36.33, 159.894)

MovePose(140.186, -36.511, 438.945, 164.195, 37.814, -159.496)
MovePose(124.856, -15.851, 519.183, 125.53, 78.115, -125.23)
MovePose(183.271, 210.586, 313.256, -138.913, -14.642, 141.667)
MovePose(240.006, 16.198, 389.776, -125.073, 36.33, 159.894)
MovePose(140.186, -36.511, 438.945, 164.195, 37.814, -159.496)
MovePose(124.856, -15.851, 519.183, 125.53, 78.115, -125.23)
MovePose(42.05, 239.903, 235.498, 161.619, 1.913, 98.946)
MovePose(37.364, 231.997, 436.718, -137.924, 10.684, 96.096)
MovePose(224.475, -104.468, 372.75, -111.747, 17.732, 172.133)

//bodhran
setblending(0.1)
SetJointAcc(99.000)
SetJointVel(99.000)
SetCartAcc(99.000)
SetCartLinVel(99.000)


MovePose(328.526, -53.819, 340.327, -132.427, 31.846, -176.762)
MoveJoints(3.151, 9.368, -5.913, 52.51, -15.99, -3.65)
MovePose(328.526, -53.819, 340.327, -132.427, 31.846, -176.762)
MoveJoints(3.151, 9.368, -5.913, 52.51, -15.99, -3.65)
MovePose(328.526, -53.819, 340.327, -132.427, 31.846, -176.762)
MoveJoints(3.151, 9.368, -5.913, 52.51, -15.99, -3.65)
MoveJoints(3.151, 9.368, -5.912, 52.51, -21.002, -3.65)
MoveJoints(3.151, 9.368, -5.913, 52.51, -15.99, -3.65)
MoveJoints(3.151, 9.368, -5.912, 52.51, -21.002, -3.65)
MoveJoints(3.151, 9.368, -5.913, 52.51, -15.99, -3.65)
MoveJoints(3.151, 9.368, -5.912, 52.51, -21.002, -3.65)
MoveJoints(3.151, 9.368, -5.913, 52.51, -15.99, -3.65)
MoveJoints(3.151, 9.368, -5.912, 52.51, -21.002, -3.65)
MoveJoints(3.151, 9.368, -5.913, 52.51, -15.99, -3.65)
MoveJoints(3.151, 9.368, -5.912, 52.51, -21.002, -3.65)
MoveJoints(3.151, 9.368, -5.913, 52.51, -15.99, -3.65)
MoveJoints(3.151, 9.368, -5.912, 52.51, -21.002, -3.65)
MoveJoints(3.151, 9.368, -5.913, 52.51, -15.99, -3.65)
MoveJoints(3.151, 9.368, -5.912, 52.51, -21.002, -3.65)
MoveJoints(3.151, 18.762, -38.115, 119.492, -19.069, -73.955)
MoveJoints(3.151, 18.762, -38.115, 119.492, -14.734, -73.955)
MoveJoints(3.151, 18.762, -38.115, 119.492, -22.339, -73.955)
MoveJoints(3.151, 18.762, -38.115, 119.492, -14.734, -73.955)
MoveJoints(3.151, 18.762, -38.115, 119.492, -22.339, -73.955)
MoveJoints(3.151, 18.762, -38.115, 119.492, -14.734, -73.955)
MoveJoints(3.151, 18.762, -38.115, 119.492, -22.339, -73.955)
MoveJoints(3.151, 18.762, -38.115, 119.492, -14.734, -73.955)
MoveJoints(3.151, 18.762, -38.115, 119.492, -22.339, -73.955)
MoveJoints(3.151, 18.762, -38.115, 119.492, -14.734, -73.955)
MoveJoints(3.151, 18.762, -38.115, 119.492, -22.339, -73.955)


delay(0.500)
MovePose(229.285, -58.259, 223.788, 175.857, 1.572, -166.146)
MovePose(5.615, -3.666, 540.199, 97.946, 72.472, -97.733)
MovePose(-1.065, 6.621, 540.199, -92.63, -24.885, 88.741)
MovePose(2.562, 6.197, 540.199, -92.403, 6.691, 90.128)
MovePose(0.097, 6.705, 540.199, -92.469, -14.927, 89.212)
MovePose(115.068, -104.582, 411.388, 139.144, 64.072, -116.134)
MovePose(229.285, -58.259, 223.788, 175.857, 1.572, -166.146)
MovePose(5.615, -3.666, 540.199, 97.946, 72.472, -97.733)
MovePose(-1.065, 6.621, 540.199, -92.63, -24.885, 88.741)
MovePose(2.562, 6.197, 540.199, -92.403, 6.691, 90.128)
MovePose(0.097, 6.705, 540.199, -92.469, -14.927, 89.212)
MovePose(115.068, -104.582, 411.388, 139.144, 64.072, -116.134)

MoveJoints(-13.717, -39.66, 52.146, 0, -15, -3.65)