Moves the N9 robot arm to the target z-location of the given Location. A Location is a joint space pose in units of counts, given as a list of four integers. These can be created conveniently in the NorthIDE.

goto_z(self, loc_list: List[int], vel: Optional[int] = None, accel: Optional[int] = None, wait: bool = True) -> CmdToken

loc_list: List[int]

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

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 goto 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).

wait: bool, optional

If True, this command blocks until the move is finished.

CmdToken

A CmdToken object that can be used to follow up on the status of the move or wait for it to finish if wait = False.