0221083eea97fb-faa8-4398-b1f7-0a568ca5d7c2Shaded1100;150;0;0100;0;150;0639157427676815769false22_pickplace_vacuum.ghx010101002Robert McNeel & Associates00000000-0000-0000-0000-000000000000Grasshopper8.17.25066.7001Egret, Version=0.99.9.0, Culture=neutral, PublicKeyToken=null0.99.9.0Mike Tuttle, MarshRabbit Robotics3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00Egret0.99.92659e0b89a-e487-49f8-bab8-b5bab16be14cPanelA panel for custom notes and text values0044c503-2df1-4d8d-9ac3-3aed7979b8b6Panelfalse0022 - Pickplace Vacuum Pick & place with the vacuum cup. HOW TO USE: Real UFACTORY cup draws on J6; TCP Axes at the cup face (61.1 mm); suction on at pick / off at place; Code has both moves + vacuum call.150-160440170000150-160255;205;225;255truetruetruefalsefalsetrue12af9e10-3b04-4c8d-9a18-771c2a31b0183f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00RobotPick a UFactory robot model via right-click. For per-model draggable pickers, use Lite 6 / xArm 5/6/7 / UF 850 in this same subcategory.4faa1707-a3a4-4c9c-802b-27ece5839f8cRobotRobot55.028.011084110.070.0Optional end-effector to attach to this robot, from a Gripper / Vacuum / Custom Tool 2ce0f6a5-54d9-4b69-afc4-646cd98aba67ToolTltrue057.030.0202067.040.0Optional controller collision sensitivity 0 (off), 5 (most sensitive). Travels with the b47113bd-c34e-4989-85fb-da98237ba3b4Collision SensitivityCstrue057.050.0202067.060.0Optional robot ROOT (base) frame in world. Set it to how the arm is actually fixed, 1bd17dcb-657a-47ab-adb2-71d621c6bb08RootRttrue057.070.0202067.080.0Optional IK SEED pose: wire a Pose (joint angles) to choose the arm configuration the whole fbf1769f-eb3a-46c0-8673-0886648f0ca1SeedSdtrue057.090.0202067.0100.0Selected robot model (carrying the attached tool, if any). Wire into the Robot input 9aebae5e-5abd-415f-ad02-d37e552cad7aRobotRfalse0123.030.04020143.040.057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single valuese96c8bbf-da73-49d9-a8fd-eb0149cf2484Number Sliderfalse0709016020311180-1800057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single valuesb73b60a7-1588-4df1-87d7-fb9c35e540f7Number Sliderfalse07012016020311180-18003057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single values0611b98a-b64d-47fd-a89b-2028eebc5a9fNumber Sliderfalse07015016020311180-1800-3057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single valuesad09799c-b161-4951-986e-abeab60fbc63Number Sliderfalse07018016020311180-1800057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single values13ea45fa-acbd-47bd-a90e-69bdb89ed029Number Sliderfalse07021016020311180-18009057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single values8d7b1096-93e5-4497-90c6-980d6b71c8adNumber Sliderfalse07024016020311180-1800012af9e10-3b04-4c8d-9a18-771c2a31b0013f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00PoseThe simplest target: type or slide the joint angles (in degrees) to pose the arm directly, no inverse kinematics. Uses J1 through however many joints the robot has: xArm 5 uses J1, J5, Lite 6 / xArm 6 / UF 850 use J1, J6, xArm 7 uses J1, J7. Extra joints are ignored (with a warning). The component face shows the active range.1eaeb238-7ad7-4a4d-9da4-6326e0340536PosePose275.058.0110204330.0160.0Joint 1 angle in degrees.5be8b430-41c6-4f89-8308-d0bfc5c5fe2dJ1J1truee96c8bbf-da73-49d9-a8fd-eb0149cf24841277.060.02020287.070.0Joint 2 angle in degrees.4280bc42-9a9d-484f-b8d0-9e9e9e25984eJ2J2trueb73b60a7-1588-4df1-87d7-fb9c35e540f71277.080.02020287.090.0Joint 3 angle in degrees.ba54925e-5fdd-4140-b2f9-bcc9d2a67f9fJ3J3true0611b98a-b64d-47fd-a89b-2028eebc5a9f1277.0100.02020287.0110.0Joint 4 angle in degrees.02d57290-8825-465a-b5ab-0109d798906aJ4J4truead09799c-b161-4951-986e-abeab60fbc631277.0120.02020287.0130.0Joint 5 angle in degrees.c930ed7d-457e-4045-9bef-22f384e126d0J5J5true13ea45fa-acbd-47bd-a90e-69bdb89ed0291277.0140.02020287.0150.0Joint 6 angle in degrees. Ignored on xArm 5 (5 joints).16434cae-e25f-42ff-9bf0-c20a37862ae7J6J6true8d7b1096-93e5-4497-90c6-980d6b71c8ad1277.0160.02020287.0170.0Joint 7 angle in degrees. Used only on xArm 7 (7 joints); ignored otherwise.339e8feb-3a46-4edb-926d-2047db2cee4bJ7J7true0277.0180.02020287.0190.0RIGHT-CLICK the component to pick the motion type (PTP or LIN), shown on its face. (Advanced: wire the text, or 0=PTP, 1=LIN; wired overrides.)c9377324-590e-46b2-b9d3-8d5d3cec76fdMotionMtrue0277.0200.02020287.0210.0Speed percent (1-100).1a852325-8255-4f55-9ec9-8b909f6cc2abSpeedStrue0277.0220.02020287.0230.0Optional, defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model.c3b091f6-98f4-49d7-a2ba-28ec279bbb15RobotRtrue0277.0240.02020287.0250.0robot target.e3126cb8-b317-489c-b1f2-bb7d16412bb2TargetTfalse0343.060.04020363.070.0Validation message.3aafb80d-93e4-4431-88fc-9270179b9a9aStatusSfalse0343.080.04020363.090.057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single values80b4cd5f-e7b6-4584-93dc-f24ba1efb380Number Sliderfalse07036016020311180-18009057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single values560f78dd-20d8-483f-bdfb-7414dcba5075Number Sliderfalse07039016020311180-18003057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single values7ee3b732-c14f-433e-a0c8-a524a5f39827Number Sliderfalse07042016020311180-1800-3057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single valuesfdda8b91-6c85-4a42-9ddd-6215c90f5ccfNumber Sliderfalse07045016020311180-1800057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single values4c6b7e5d-7023-45e7-8e39-0968a5371faeNumber Sliderfalse07048016020311180-18009057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single values34d31596-4d00-43d3-97ff-14e65c33816fNumber Sliderfalse07051016020311180-1800012af9e10-3b04-4c8d-9a18-771c2a31b0013f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00PoseThe simplest target: type or slide the joint angles (in degrees) to pose the arm directly, no inverse kinematics. Uses J1 through however many joints the robot has: xArm 5 uses J1, J5, Lite 6 / xArm 6 / UF 850 use J1, J6, xArm 7 uses J1, J7. Extra joints are ignored (with a warning). The component face shows the active range.ba4e3aa3-9f9f-4ab5-9a1c-686df5176fb5PosePose275.0328.0110204330.0430.0Joint 1 angle in degrees.d7d8e664-f22a-451b-80dc-ddd15db47747J1J1true80b4cd5f-e7b6-4584-93dc-f24ba1efb3801277.0330.02020287.0340.0Joint 2 angle in degrees.ca1aaed8-a72c-45df-aa73-f55b2a1f5fbdJ2J2true560f78dd-20d8-483f-bdfb-7414dcba50751277.0350.02020287.0360.0Joint 3 angle in degrees.4515e5e6-84bb-40dc-8599-e2c2e8aee5d6J3J3true7ee3b732-c14f-433e-a0c8-a524a5f398271277.0370.02020287.0380.0Joint 4 angle in degrees.945302c8-aa5d-439b-942a-87a8dad3349aJ4J4truefdda8b91-6c85-4a42-9ddd-6215c90f5ccf1277.0390.02020287.0400.0Joint 5 angle in degrees.01f60449-c404-4c9f-b0f6-48f70df113a3J5J5true4c6b7e5d-7023-45e7-8e39-0968a5371fae1277.0410.02020287.0420.0Joint 6 angle in degrees. Ignored on xArm 5 (5 joints).1cde4462-ffe0-4cc4-ae1f-db6899d61ae8J6J6true34d31596-4d00-43d3-97ff-14e65c33816f1277.0430.02020287.0440.0Joint 7 angle in degrees. Used only on xArm 7 (7 joints); ignored otherwise.423a50a2-3528-4c80-a380-de4a01b158fbJ7J7true0277.0450.02020287.0460.0RIGHT-CLICK the component to pick the motion type (PTP or LIN), shown on its face. (Advanced: wire the text, or 0=PTP, 1=LIN; wired overrides.)4804086c-cbde-4cf9-8e70-937cb7b94474MotionMtrue0277.0470.02020287.0480.0Speed percent (1-100).337c0edc-0367-48c9-a88f-cb905e8fee72SpeedStrue0277.0490.02020287.0500.0Optional, defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model.daf986a3-7b53-490d-8927-44f1e3d2711dRobotRtrue0277.0510.02020287.0520.0robot target.ed098065-3b4d-4ea6-93c3-1b31acbbb0d7TargetTfalse0343.0330.04020363.0340.0Validation message.dfef40b6-30b6-445c-a3b9-7b04d99fca4eStatusSfalse0343.0350.04020363.0360.059e0b89a-e487-49f8-bab8-b5bab16be14cPanelA panel for custom notes and text valuesa26649ab-b8ee-4e7a-883c-4a01240ef51aPanelfalse00Vacuum480401606000048040255;255;250;90truetruetruefalsefalsetrue2e78987b-9dfb-42a2-8b76-3923ac8bd91aBoolean ToggleBoolean (true/false) toggleb242c224-8087-451a-9e17-5f004939ba2fBoolean ToggleTogglefalse0true508991042212af9e10-3b04-4c8d-9a18-771c2a31b0903f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00GripperUnified gripper command. Type = BIO / Robotiq / Vacuum; only that type's inputs apply. BIO: Open. Robotiq: Position(0=open,255=closed)/Force/Speed (untested on real hardware). Vacuum: On + Timeout.919e32ff-f03e-4187-9a3a-9be42b9300e7GripperGrip505.0118.0110124560.0180.0RIGHT-CLICK the component to pick the gripper type (BIO / Robotiq / Vacuum), the choice shows on its face. (Advanced: wire the text name, or a number 0=BIO, 1=Robotiq, 2=Vacuum; a wired value overrides the right-click pick.)cbd8391c-f4ff-4666-9031-8999d15d1e96TypeTytruea26649ab-b8ee-4e7a-883c-4a01240ef51a1507.0120.02020517.0130.0BIO: true=open, false=close. Vacuum: true=suction on, false=release. (Ignored for Robotiq.)f23e6a95-1a7f-4ce8-b1ac-bcf0694cb812Open/OnOtrueb242c224-8087-451a-9e17-5f004939ba2f1507.0140.02020517.0150.0Robotiq only: 0=fully open, 255=fully closed.a93e230c-2385-4a9a-89fb-95e37c91010dPositionPtrue0507.0160.02020517.0170.0Robotiq only: grip force 0-255.745d54d0-e190-40d3-833e-5b051fb2aad8ForceFtrue0507.0180.02020517.0190.0Robotiq only: open/close speed 0-255.16b67822-9c75-4a7b-b706-01aa3799d143SpeedSptrue0507.0200.02020517.0210.0Vacuum only: seconds to wait for pressure to stabilize (0 = don't wait).e4797585-9dfd-4041-8a12-4d8e83b9a05bTimeoutTotrue0507.0220.02020517.0230.0Gripper command target.1b92863a-3fe3-48fb-ada2-754f5b2bb9a9TargetTfalse0573.0120.04020593.0130.02e78987b-9dfb-42a2-8b76-3923ac8bd91aBoolean ToggleBoolean (true/false) toggledbd026fd-bf50-4405-bc68-e6220313785cBoolean ToggleTogglefalse0false5085491042212af9e10-3b04-4c8d-9a18-771c2a31b0903f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00GripperUnified gripper command. Type = BIO / Robotiq / Vacuum; only that type's inputs apply. BIO: Open. Robotiq: Position(0=open,255=closed)/Force/Speed (untested on real hardware). Vacuum: On + Timeout.49116ad2-3d0f-42a1-8e3f-8adfc014fc73GripperGrip505.0438.0110124560.0500.0RIGHT-CLICK the component to pick the gripper type (BIO / Robotiq / Vacuum), the choice shows on its face. (Advanced: wire the text name, or a number 0=BIO, 1=Robotiq, 2=Vacuum; a wired value overrides the right-click pick.)ca160eae-b8af-41cc-bea4-48929f9cc9aaTypeTytruea26649ab-b8ee-4e7a-883c-4a01240ef51a1507.0440.02020517.0450.0BIO: true=open, false=close. Vacuum: true=suction on, false=release. (Ignored for Robotiq.)c6c9c990-2381-4200-8f82-e48c0da6e799Open/OnOtruedbd026fd-bf50-4405-bc68-e6220313785c1507.0460.02020517.0470.0Robotiq only: 0=fully open, 255=fully closed.bd18493d-5dae-49f9-8485-b7a013c44e81PositionPtrue0507.0480.02020517.0490.0Robotiq only: grip force 0-255.9c902303-191b-4f5a-b7d1-f54c040b381dForceFtrue0507.0500.02020517.0510.0Robotiq only: open/close speed 0-255.7b07ccd4-fdfd-4abe-8c88-fbf51fb5c3f2SpeedSptrue0507.0520.02020517.0530.0Vacuum only: seconds to wait for pressure to stabilize (0 = don't wait).ca336173-30a5-40df-b4d3-b3ade57d4681TimeoutTotrue0507.0540.02020517.0550.0Gripper command target.a5d69a3d-635e-4f56-81d9-b0fa6ac6754cTargetTfalse0573.0440.04020593.0450.012af9e10-3b04-4c8d-9a18-771c2a31b00d3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00ToolDefine a tool and stamp its TCP onto your targets. Type=Custom: type X Y Z (mm) + Roll Pitch Yaw (deg) from UFACTORY Studio's tool-coordinate field (for a straight tool just set Z). Type=Gripper / Vacuum: built-in presets with auto mesh, TCP and payload. Set Weight (kg) for set_tcp_load. Absorbs the old Gripper Tool / Vacuum Tool presets.448feeaa-e7e8-42a6-84d3-c4b39d654a99ToolTool735.0198.0110204790.0300.0List of RobotTarget.80b6a240-e247-4989-8bd5-6c59a1ec7234TargetsTtruee3126cb8-b317-489c-b1f2-bb7d16412bb21b92863a-3fe3-48fb-ada2-754f5b2bb9a9ed098065-3b4d-4ea6-93c3-1b31acbbb0d7a5d69a3d-635e-4f56-81d9-b0fa6ac6754c4737.0200.02020747.0210.0TCP offset X in mm (flange frame).ec1fe93e-a7ed-482e-8be4-013a13d9d23eXXtrue0737.0220.02020747.0230.0TCP offset Y in mm (flange frame).cef163eb-3b4e-409e-942a-5220e414ee66YYtrue0737.0240.02020747.0250.0TCP offset Z in mm, distance out along the flange axis. For a straight tool this is the only one you need.0781f21d-c495-4c36-926a-243c1fea3c54ZZtrue0737.0260.02020747.0270.0Roll about X in degrees (UFACTORY 'A'). 0 for a straight tool.4f13c80e-ed2a-4336-825b-6a70afe256cdRollAtrue0737.0280.02020747.0290.0Pitch about Y in degrees (UFACTORY 'B').ebe5ef27-a82d-461c-93e3-cabd711ee3fbPitchBtrue0737.0300.02020747.0310.0Yaw about Z in degrees (UFACTORY 'C').4a96fd03-c0fa-4439-99fb-159fd5424545YawCtrue0737.0320.02020747.0330.0Optional mesh(es) representing the tool, in the flange frame (mount at origin, tool along +Z). Passed through, wire into Stage's Tool input to see it on J6. (Custom type only.)5883d0e6-f027-4d67-bc0c-483b27db66d6Tool MeshesMtrue0737.0340.02020747.0350.0RIGHT-CLICK the component to pick the tool type (Custom / Gripper / Vacuum), shown on its face. Custom = define TCP via X/Y/Z/RPY; Gripper/Vacuum = presets (auto mesh + TCP + payload). (Advanced: wire the text, or 0=Custom, 1=Gripper, 2=Vacuum; wired overrides.)879af08d-99d1-4025-a25d-b0438daa5706TypeTytruea26649ab-b8ee-4e7a-883c-4a01240ef51a1737.0360.02020747.0370.0Tool payload mass in kg → codegen set_tcp_load. 0 = none (Custom) or the preset's known mass (Gripper 0.277, Vacuum 0.145).d6f9391f-7b74-43be-9471-58b6bfaa3d9bWeightKgtrue0737.0380.02020747.0390.0Targets stamped with the tool offset.b3fb3ce5-ac10-4585-82d7-6db7e97f86f1TargetsTfalse0803.0200.04020823.0210.0Passthrough of input meshes, wire into Transform with flange pose from Sim.99284763-28ac-4acf-87ef-46ec4e0f62bcTool MeshesMfalse0803.0220.04020823.0230.0Summary of what was applied.a2988eeb-cc75-44a6-9414-646ab20af680StatusSfalse0803.0240.04020823.0250.0Bundled tool (geometry + TCP), wire into the Robot picker's Tool input so it travels 83cb72c7-971a-41fa-b6f4-890ca52c6187ToolTlfalse0803.0260.04020823.0270.02e78987b-9dfb-42a2-8b76-3923ac8bd91aBoolean ToggleBoolean (true/false) toggle3816b602-fbf5-498f-8fa6-fd76718a0583Boolean ToggleTogglefalse0true9781191042212af9e10-3b04-4c8d-9a18-771c2a31b0033f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00StageVisualize the robot, scrub the toolpath, see per-joint plots. Double-click for the Stage form. Outputs link meshes, TCP, and a passthrough Targets list.14ebb8cb-2873-4343-ab2b-2dcccc96316aStageStage975.0128.01102441030.0250.0List of RobotTargets to visualize. Uses the LAST one.6b4cc2ec-4b59-4b9e-b709-272ddf88a8bbTargetsTtrueb3fb3ce5-ac10-4585-82d7-6db7e97f86f11977.0130.02020987.0140.0If true, show all poses overlaid (ghost mode).258f7608-3e1f-4a8e-a21d-d7bbd778561dShow AllAlltrue0977.0150.02020987.0160.0Show the lifelike 3D robot instead of the simple stick-figure. Turn on for a realistic preview; leave off for a faster, lighter view. (Advanced: add your own robot meshes via the Egret meshes folder, see the wiki.)fe00b838-dd65-4d23-9072-0547985c5749Real MeshesRealtrue3816b602-fbf5-498f-8fa6-fd76718a05831977.0170.02020987.0180.0Optional, defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model.cba18ae2-23d8-463b-92e3-15b08c9a4f26RobotRtrue0977.0190.02020987.0200.0Optional 0..1 scrub: wire a Number Slider with 0.0-1.0000000 to drive the arm smoothly through the program. 0 = first move, 1 = last. Interpolates BETWEEN targets (LIN/CIR travel straight in Cartesian space, PTP blends in joint space) so the arm moves continuously instead of snapping pose-to-pose. Overrides the Stage form's slider when wired.5a73e788-e9ca-45b3-acb5-24ae60e5fa86TimeTmtrue0977.0210.02020987.0220.0Overlay wireframe edges on the real meshes. Off = clean shaded view (joints separated by colour); on = adds edge lines (more technical / busier).13f91c60-c689-42ea-b9b5-f9fddb51ef4aEdgesEtrue0977.0230.02020987.0240.0Optional end-effector mesh(es) in the flange (J6) frame, e.g. from a Gripper Tool / Vacuum Tool component. Drawn attached to J6 at the live pose so you see the actual tool; its working point shows via the TCP Axes output.6f0a4a6b-4793-462e-aab3-69179ab45087ToolTltrue99284763-28ac-4acf-87ef-46ec4e0f62bc1977.0250.02020987.0260.0Draw the TCP toolpath as a trail through all PTP/LIN/CIR targets, with the corners rounded by the blend radius, so you can SEE the actual path (incl. blend rounding). Off by default.aa9e87f6-9c4c-46ac-8bd5-3cadeefd2c03TrailTrtrue0977.0270.02020987.0280.0When Trail is on: draw travel-direction arrows on each move. Off by default (busy on dense paths).11fe4920-7e9b-4705-b9a1-253f34a6d901Trail ArrowsArtrue0977.0290.02020987.0300.0When Trail is on: draw the tool plane (XYZ axes) at each target. Off by default.0316e704-3c0b-4617-a5d4-8419ed57be06Trail FramesFrtrue0977.0310.02020987.0320.0Optional picked-object mesh(es), positioned where the object sits at the pick. While the vacuum is ON (holding) the object is drawn riding the cup, so you can see the carried part. Vanishes on release.8a58c5c7-2e8d-4c5c-b01f-cd0dc69056a2PayloadPaytrue0977.0330.02020987.0340.0Force the Payload onto the gripper at the current pose, use in LIVE preview, where there are no gripper ON/OFF commands to detect a grab. Rides the part centered on the TCP. Off = use the program's vacuum/gripper commands to decide when it's held.05d84534-6cb7-444f-8284-2b729c43d972Hold PayloadHldtrue0977.0350.02020987.0360.0Mesh per link, transformed to the current pose.9eb21b29-8a28-4517-8c14-f1ba26082d6cRobot MeshesMfalse01043.0130.040201063.0140.0Tool flange plane at the last pose.e33df2a5-c363-42fd-a6da-a42a40f103efTCPTCPfalse01043.0150.040201063.0160.0Three colored line segments at the TCP plane (X=50mm red, Y=50mm green, Z=50mm blue) for orientation visualization.c959370b-8350-4c6f-9f77-9541bdae1a62TCP AxesAxfalse01043.0170.040201063.0180.0Reachability / limit status.0a3d576f-ff6a-46f7-a84d-0bb4ac6ee418StatusSfalse01043.0190.040201063.0200.0Input target list, passed through. Fork into Analysis or other downstream consumers without re-merging from the source.ae8e883e-5384-4d1a-bf1c-bd90edbe9521TargetsTfalse01043.0210.040201063.0220.0The single RobotTarget Stage is currently rendering, whichever target the form's slider, the wired Time input, or the default 'last target' resolves to. Wire into Code / G-Code / Analysis to act on the scrubbed pose specifically.99096ee4-4b18-431a-b8f3-8f996fb1da6dCurrent TargetTcfalse01043.0230.040201063.0240.0The TCP toolpath through all PTP/LIN/CIR targets, corners rounded by the blend radius. Empty unless the Trail input is on. Bake it to keep the path geometry.14bba822-fae0-4330-a420-007dd3db3cf7TrailTrfalse01043.0250.040201063.0260.012af9e10-3b04-4c8d-9a18-771c2a31b0023f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00CodeTurn your list of targets into a ready-to-run Python program for the robot (xArm Python SDK). Copy the output to a .py file and run it on a PC connected to the controller. Wire into a Panel to read it.91ee4241-9059-4a6b-a7d1-65b5ad85349cCodeCode975.0438.0110841030.0480.0List of RobotTarget.248d49e5-12f2-4d5d-938a-8c7881f2a1efTargetsTtrueb3fb3ce5-ac10-4585-82d7-6db7e97f86f11977.0440.02020987.0450.0Robot IP baked into the generated script's XArmAPI(...) connect line (Lite 6 default 192.168.1.159).f8e2f383-b626-4afd-85c1-3d29a4a3555eIPIPtrue0977.0460.02020987.0470.0Wait for each motion to complete before issuing the next (recommended).3a39bea6-bdc4-4683-808a-0e3b953c0210WaitWtrue0977.0480.02020987.0490.0Optional UFactory robot model. Defaults to Lite 6. Used only for Forward-kinematics fallback when LIN targets have no TargetPlane.530eb674-ae48-4c02-b247-0afff1ecc863RobotRtrue0977.0500.02020987.0510.0Python script. Save as .py and run on a host that can reach the robot.f5a862b5-855a-4133-886b-0426b6a96b96ScriptSfalse01043.0440.040201063.0450.0Number of motion commands generated.08718a93-3aec-42f2-a37f-bd959233b44bMovesMfalse01043.0460.040201063.0470.059e0b89a-e487-49f8-bab8-b5bab16be14cPanelA panel for custom notes and text valuesd9985466-78a2-4be9-86b6-1f8ac94e9b1fPanelfalse0f5a862b5-855a-4133-886b-0426b6a96b9611190470160600001190470255;255;250;90truetruetruefalsefalsetrueiVBORw0KGgoAAAANSUhEUgAAAJYAAABkCAIAAADrOV6nAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAADzSURBVHhe7dFBCQAgAAAx+9c0iH4EMcLJVmFj8IFF1i2cBCnMU5inME9hnsI8hXkK8xTmKcxTmKcwT2GewjyFeQrzFOYpzFOYpzBPYZ7CPIV5CvMU5inMU5inME9hnsI8hXkK8xTmKcxTmKcwT2GewjyFeQrzFOYpzFOYpzBPYZ7CPIV5CvMU5inMU5inME9hnsI8hXkK8xTmKcxTmKcwT2GewjyFeQrzFOYpzFOYpzBPYZ7CPIV5CvMU5inMU5inME9hnsI8hXkK8xTmKcxTmKcwT2GewjyFeQrzFOYpzFOYpzBPYZ7CPIV5CvOeQqJOIWkbNIJf4jYto4QAAAAASUVORK5CYII=