franka.rosl

while (true) {
    receive(producer, idle) {
        case Ok() => {
            homePos( );
            receive(carrier, idle) {
                case Ok() => {
                    # grab position
                    setJoint( 0.178310,0.635300,-0.449920,-2.122150,2.866786,2.016097,1.141317 );
                    receive(carrier, idle) {
                        case Ok() => {
                             grasp(0.02);
                             homePos( );
                             send(carrier, Ok);
                             # drop position
                             setJoint( 0.926170,-1.693679,1.469714,-2.709620,1.511592,1.437029,0.573354 );
                             open( );
                             homePos( );
                        }
                    }
                }
                case Done() => {
                    skip;
                }
            }
        }
        case Done() => {
            stop( );
            exit( 0 );
        }
    }
}