Moves the N9 robot arm to the safe_height on the z-axis before moving the end-effector (EE) to the (x, y) position of a target Location. The final position of the end effector is (x, y, safe_height). 

A Location is a joint space pose in units of counts and is given as a list of four integers. These can be created conveniently in the NorthIDE. During the move, velocities of each axis are scaled such that all joints start and stop moving together. The velocity value for the move represents the maximum velocity of the axis that is moving the largest number of counts, the maximum velocities of all other moving axes are correspondingly scaled down.

goto_xy_safe(self, loc_list: List[int], safe_height: Optional[int] = None, vel: Optional[int] = None, accel: Optional[int] = None)

loc_list: List[int]

The target pose, given as [gripper, elbow, shoulder, z-axis], in units of counts.

safe_height: int, optional

The height, in units of counts, to move the z-axis to before moving the elbow and shoulder joints. If not given, the z-axis will move to its maximum height.

vel: int, optional

Max velocity of the move in units of counts per second [0, 100000]. Values [0, 100] are interpreted as a percentage of the maximum velocity (100,000 cts/s). If the accel parameter is not given, the acceleration will be set to 10x the  velocity in units of cts/s². Note velocity scaling may occur, as explained in the function description.

accel: int, optional

Constant acceleration of the axis to reach the given velocity, in units of counts per second² [0, 500000]. Values [0, 100] are interpreted as a percentage of the  maximum acceleration (500,000 cts/s²).