language grl 0.1
module W2Roundtrip
  const speed vj = joint(40 %)
  const speed vl = linear(150 mm/s)
  const zone z10 = z(10 mm)
  target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] }
  target pick = pose_target { pose: pose(500 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg) }
  path roundtrip_path {
    defaults { speed: vj, zone: z10 }
    point p0 movej home zone fine
    point p1 movel pick speed vl zone z10
  }
  operation roundtrip_op {
    kind: handling
    path: roundtrip_path
    process {
      generator: "working2"
    }
  }
  proc main()
    run_operation roundtrip_op
    movej home speed vj zone fine
  end
end
