def left():

# Generated by botrail (units: rad, m, s)

# joints: left_shoulder_pan_joint, left_shoulder_lift_joint, left_elbow_joint, left_wrist_1_joint, left_wrist_2_joint, left_wrist_3_joint

movej([0, -1.9, 1.8, -1.5, -1.57, 0], a=6.283185, v=3.141593, r=0)

# step 1: left pick L1

movej([-0.461808, -1.219699, 2.18276, -2.533857, -1.570796, -2.032605], a=6.283185, v=3.141593, r=0)

movel([-0.461808, -0.960625, 2.202763, -2.812934, -1.570796, -2.032605], a=1.2, v=0.25, r=0)

# step 2: left grasp L1

# attach L1 (simulation grasp — drive the real gripper via a mapped output)

# step 3: left wait bin L1

while (not (not get_standard_digital_in(1) and not get_standard_digital_in(0))):

sync()

end

# step 4: left place L1

movel([-0.461809, -1.219698, 2.182762, -2.533862, -1.570796, -2.032605], a=1.2, v=0.25, r=0)

movej([-1.250521, -1.735639, 2.440571, -2.275728, -1.570796, -2.821318], a=6.283185, v=3.141593, r=0)

# step 5: left release L1

# detach L1 (simulation release)

# step 6: left clear L1

movej([0, -1.9, 1.8, -1.5, -1.57, 0], a=6.283185, v=3.141593, r=0)

# step 7: left pick L2

movej([-0.358564, -0.985218, 1.769769, -2.355349, -1.570796, -1.92936], a=6.283185, v=3.141593, r=0)

movel([-0.358564, -0.798708, 1.786383, -2.558465, -1.570796, -1.92936], a=1.2, v=0.25, r=0)

# step 8: left grasp L2

# attach L2 (simulation grasp — drive the real gripper via a mapped output)

# step 9: left place L2

movel([-0.358567, -0.985221, 1.769802, -2.355393, -1.570795, -1.929363], a=1.2, v=0.25, r=0)

movej([-0.713756, -0.990288, 1.768326, -2.348835, -1.570796, -2.284552], a=6.283185, v=3.141593, r=0)

movel([-0.713756, -0.804729, 1.786777, -2.552838, -1.570796, -2.284553], a=1.2, v=0.25, r=0)

# step 10: left release L2

# detach L2 (simulation release)

# step 11: left clear L2

movel([-0.713759, -0.990291, 1.768359, -2.34888, -1.570796, -2.284556], a=1.2, v=0.25, r=0)

movej([0, -1.9, 1.8, -1.5, -1.57, 0], a=6.283185, v=3.141593, r=0)

# step 12: left cleared L2

set_standard_digital_out(0, True)

end