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kdl-wasm/web/tests/fixtures/abb120/programs/A120_00_Smoke.grl

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+language grl 0.1
+module A120Smoke
+  const speed v_joint = joint(40 %)
+  const zone zf = fine
+  target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] }
+  proc main()
+    movej home speed v_joint zone zf
+  end
+end

kdl-wasm/web/tests/fixtures/abb120/programs/A120_10_JointPickPlace.grl

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+language grl 0.1
+module A120JointPickPlace
+  const speed v_fast = joint(40 %)
+  const speed v_slow = joint(10 + 10 %)
+  const zone z10 = z(5 + 5 mm)
+  target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] }
+  target approach = joint_target { joints: [0 deg, -22.918312 deg, 28.647890 deg, 0 deg, 11.459156 deg, 0 deg] }
+  target pick = joint_target { joints: [11.459156 deg, -20.053523 deg, 25.783101 deg, 5.729578 deg, -11.459156 deg, 17.188734 deg] }
+  target place = joint_target { joints: [-20.053523 deg, -14.323945 deg, 20.053523 deg, -14.323945 deg, 8.594367 deg, -22.918312 deg] }
+  path pick_place {
+    defaults { speed: v_fast, zone: z10 }
+    point p_home movej home zone fine
+    point p_approach movej approach
+    event before p_pick io.do[1] = true
+    point p_pick movej pick speed v_slow zone fine
+    point p_place movej place
+    event after p_place io.do[1] = false
+  }
+  proc main()
+    run_path pick_place
+  end
+end

kdl-wasm/web/tests/fixtures/abb120/programs/A120_20_CartesianBlend.grl

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+language grl 0.1
+module A120CartesianBlend
+  persistent tool gripper = tool { tcp: pose(0 mm, 0 mm, 100 mm, 0 deg, 0 deg, 0 deg), mass: 1 kg }
+  persistent frame fixture = frame { origin: pose(800 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg) }
+  const speed v_linear = linear(100 + 50 mm/s)
+  const zone z10 = z(clamp(10 mm, 1 mm, 50 mm))
+  target pick = pose_target { pose: pose(500 mm, 0 mm, 0 mm, 0 deg, 0 deg, atan2(0, 1)), tool: gripper, frame: fixture }
+  target mid = pose_target { pose: pose(550 mm, 50 mm, 0 mm, 0 deg, 0 deg, 0 deg), tool: gripper, frame: fixture }
+  target arc_end = pose_target { pose: pose(600 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg), tool: gripper, frame: fixture }
+  path cart_path {
+    defaults { speed: v_linear, zone: z10, tool: gripper, frame: fixture }
+    point p_pick movel pick zone fine
+    point p_arc movec via mid target arc_end speed linear(max(50 mm/s, 150 mm/s)) zone z10
+  }
+  proc main()
+    set_tool gripper
+    set_frame fixture
+    run_path cart_path
+  end
+end

kdl-wasm/web/tests/fixtures/abb120/programs/A120_30_IOWaitPulse.grl

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+language grl 0.1
+module A120IOWaitPulse
+  const speed v = joint(35 %)
+  const zone zf = fine
+  target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] }
+  path io_path {
+    defaults { speed: v, zone: zf }
+    point p0 movej home
+    event at p0 distance 5 + 5 mm pulse io.do[20] duration 50 + 50 ms
+  }
+  proc main()
+    io.do[1] = true
+    wait io.di[1] == true timeout 1 + 1 s on_timeout alarm "DI1 timeout"
+    pulse io.do[2] duration 50 + 50 ms
+    run_path io_path
+  end
+end

kdl-wasm/web/tests/fixtures/abb120/programs/A120_40_ErrorDiagnostics.grl

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+language grl 0.1
+module A120ErrorDiagnostics
+  const speed v = joint(30 %)
+  const zone zf = fine
+  target over_limit = joint_target { joints: [200 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] }
+  target unreachable_pose = pose_target { pose: pose(3000 mm, 0 mm, 3000 mm, 0 deg, 0 deg, 0 deg) }
+  proc main()
+    movej over_limit speed v zone zf
+    movel unreachable_pose speed linear(100 mm/s) zone zf
+    wait io.di[99] == true timeout 10 ms on_timeout alarm "expected timeout"
+  end
+end

kdl-wasm/web/tests/fixtures/abb120/programs/A120_50_OperationProcess.grl

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+language grl 0.1
+module A120OperationProcess
+  const speed v = joint(35 %)
+  const zone zf = fine
+  target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] }
+  path op_path {
+    defaults { speed: v, zone: zf }
+    point p0 movej home
+  }
+  operation pick_op {
+    kind: handling
+    path: op_path
+    process {
+      dwell_ms: 50 + 50 ms,
+      clamp_force: max(20, 10)
+    }
+    start_action:
+      io.do[1] = true
+    end_action:
+      io.do[1] = false
+  }
+  proc main()
+    run_operation pick_op
+  end
+end