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Door-type movement

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门型移动

482c782c42e70f0b2e44445345f6461e795f9189 ```python from pymycobot import ultraArmP340,utils import time

<<<<<<< HEAD grab_point=[217.26, 68.87, 8.0, 27.0]#Grab point coordinates place_point=[217.26, -114.13, 10.0, 27.0]#Placement point coordinates

if name=="main": arm=ultraArmP340(utils.get_port_list()[0]) arm.set_angles([0,0,0,0],100)#Return to joint zero point time.sleep(2) arm.set_coords([grab_point[0],grab_point[1],grab_point[2]+50,grab_point[3]],100)#Move to 50mm above the grab point time.sleep(2) arm.set_coords([grab_point[0],grab_point[1],grab_point[2],grab_point[3]],100)#Move to the grab point time.sleep(2) arm.set_coords([grab_point[0],grab_point[1],grab_point[2]+50,grab_point[3]],100)#Move to 50mm above the grab point time.sleep(2)

arm.set_coords([place_point[0],place_point[1],place_point[2]+50,place_point[3]],100)#Move to 50mm above the placement point
time.sleep(2)
arm.set_coords([place_point[0],place_point[1],place_point[2],place_point[3]],100)#Move to the placement point
time.sleep(2)
arm.set_coords([place_point[0],place_point[1],place_point[2]+50,place_point[3]],100)#Move to 50mm above the placement point
time.sleep(2)

## Notes
After the robot arm is turned on, it must be zeroed before executing the subsequent tasks. The following code can be used to return to zero
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grab_point=[217.26, 68.87, 8.0, 27.0]#抓取点坐标
place_point=[217.26, -114.13, 10.0, 27.0]#放置点坐标

if __name__=="__main__":
    arm=ultraArmP340(utils.get_port_list()[0])   
    arm.set_angles([0,0,0,0],100)#回到关节零点
    time.sleep(2)
    arm.set_coords([grab_point[0],grab_point[1],grab_point[2]+50,grab_point[3]],100)#运动到抓取点上方50mm
    time.sleep(2)
    arm.set_coords([grab_point[0],grab_point[1],grab_point[2],grab_point[3]],100)#运动到抓取点
    time.sleep(2)
    arm.set_coords([grab_point[0],grab_point[1],grab_point[2]+50,grab_point[3]],100)#运动到抓取点上方50mm
    time.sleep(2)

    arm.set_coords([place_point[0],place_point[1],place_point[2]+50,place_point[3]],100)#运动到放置点上方50mm
    time.sleep(2)
    arm.set_coords([place_point[0],place_point[1],place_point[2],place_point[3]],100)#运动到放置点
    time.sleep(2)
    arm.set_coords([place_point[0],place_point[1],place_point[2]+50,place_point[3]],100)#运动到放置点上方50mm
    time.sleep(2)

注意事项

机械臂开机后，必须先进行一次回零才可以执行后面的任务，可使用下面代码进行回零

482c782c42e70f0b2e44445345f6461e795f9189 ```python from pymycobot import ultraArmP340,utils

if name=="main": arm=ultraArmP340(utils.get_port_list()[0]) arm.go_zero() <<<<<<< HEAD

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482c782c42e70f0b2e44445345f6461e795f9189