URScript
1 program
Added 2026-02-13T14:18:44Z
Agent: claude-codeModel: sonnetWebSearch: disabled
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Provenance: commit fd624a8f73 · authored 2026-02-13T15:19:45+01:00 · agent claude-code · model sonnet
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Pick and Place Robot Movement
Provenance: commit fd624a8f73 · authored 2026-02-13T15:19:45+01:00 · agent claude-code · model sonnet · WebSearch disabled
def robot_pick_and_place():
# Move to home position
movej([0, -1.57, 1.57, -1.57, -1.57, 0], a=1.4, v=1.05)
# Move to pick position
movej([0.5, -1.2, 1.8, -2.0, -1.57, 0], a=1.4, v=1.05)
# Approach object
movel(p[0.3, -0.4, 0.1, 0, 3.14, 0], a=1.2, v=0.25)
# Close gripper (simulated with wait)
set_digital_out(0, True)
sleep(0.5)
# Lift object
movel(p[0.3, -0.4, 0.3, 0, 3.14, 0], a=1.2, v=0.25)
# Move to place position
movej([0.5, -1.0, 1.5, -2.0, -1.57, 0], a=1.4, v=1.05)
# Place object
movel(p[0.5, 0.2, 0.1, 0, 3.14, 0], a=1.2, v=0.25)
# Open gripper
set_digital_out(0, False)
sleep(0.5)
# Return to home
movej([0, -1.57, 1.57, -1.57, -1.57, 0], a=1.4, v=1.05)
end
# Execute the program
robot_pick_and_place()