" %}
### **Robot Program File**
```python
# Robot functions file
force_threshold = 50
force_z = 0
status = "WAITING NUDGE"
# nudge function
def wait_nudge():
sleep(1)
f = get_tcp_force()
while norm(f[2]) < force_threshold:
sleep(0.2)
f = get_tcp_force()
end
end
thread update_force():
while True:
force_z = get_tcp_force()[2]
sync()
end
end
run update_force()
```
# Robot task file
status = "WAITING NUDGE"
wait_nudge()
status = "NUDGE DETECTED!"
# counter
global i = 0
while i < 3:
# pick
movej([1.56, -1.86, 2.29, -2.00, -1.57, -0.01], r=0.03)
movel(p[0.107, -0.331, 0.100, 0.00, 3.14, -0.00])
movel(p[0.107, -0.331, 0.25, 0.00, 3.14, -0.00], r=0.03)
# place
movej([1.56, -1.40, 1.87, -2.04, -1.57, -0.01], r=0.03)
movel(p[0.107, -0.517, 0.100, -0.00, 3.14, 0.00])
movel(p[0.107, -0.517, 0.2500, -0.00, 3.14, 0.00], r=0.03)
i = i + 1
end
{% file src="" %}
