# Simple Pallet Example

**HMI Panel File**

<figure><img src="/files/rPjm5u0sF3voklDWUKag" alt=""><figcaption></figcaption></figure>

**Robot Program File**

```python
# pick and place simulation on two pallets
picking = False
placing = False
buffering = False

pick_status = [True, True, True, True, True, True, True, True, True]
place_status = [False, False, False, False, False, False, False, False, False]

# positions on the pallets
pick_positions = [p[0.393, -0.755, 0.391, -2.22, 2.22, 0.00],
                  p[-0.177, -0.553, 0.391, -0.00, 3.14, 0.00],
                  p[-0.177, -0.956, 0.391, -0.00, 3.14, 0.00],
                  p[0.195, -0.553, -0.010, -0.00, 3.14, 0.00],
                  p[0.195, -0.956, -0.010, -0.00, 3.14, 0.00],
                  p[-0.375, -0.754, -0.010, -2.22, 2.22, 0.00],
                  p[-0.164, -0.956, -0.412, -0.00, 3.14, -0.00],
                  p[-0.164, -0.568, -0.412, -0.00, 3.14, 0.00],
                  p[0.394, -0.766, -0.412, -2.22, 2.22, 0.00]]


place_positions = [p[0.393, 0.755, -0.409, -2.22, 2.22, -0.00],
                  p[-0.177, 0.553, -0.409, -0.00, 3.14, 0.00],
                  p[-0.177, 0.956, -0.409, -0.00, 3.14, 0.00],
                  p[0.195, 0.553, -0.010, -0.00, 3.14, 0.00],
                  p[0.195, 0.956, -0.010, -0.00, 3.14, 0.00],
                  p[-0.375, 0.754, -0.010, -2.22, 2.22, 0.00],
                  p[-0.164, 0.956, 0.388, -0.00, 3.14, -0.00],
                  p[-0.164, 0.568, 0.388, -0.00, 3.14, 0.00],
                  p[0.394, 0.766, 0.388, -2.22, 2.22, 0.00]]

# motion functions
def pick():
    picking = True
    placing = False
    buffering = False
    pick_status[i] = False

    movej(pose_trans(pick_positions[i], p[0, 0, -0.6, 0, 0, 0]))
    movel(pick_positions[i])
    movel(pose_trans(pick_positions[i], p[0, 0, -0.6, 0, 0, 0]))
end

def place():
    picking = False
    placing = True
    buffering = False
    place_status[i] = True

    movej(pose_trans(place_positions[i], p[0, 0, -0.5, 0, 0, 0]))
    movel(place_positions[i])
    movel(pose_trans(place_positions[i], p[0, 0, -0.5, 0, 0, 0]))
end

def buffer():
    picking = False
    placing = False
    buffering = True
    movej([0.08, -1.86, -1.40, -1.45, 1.57, 0.08])
end

def home():
    movej([0.08, -1.86, -1.40, -1.45, 1.57, 0.08])
end

```

```python
# main loop program
i = 0
while i < 9:
    home()
    pick()
    buffer()
    place()
    i = i + 1
end

```


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.robpod.cloud/hmi-designer/working-examples/universal-robots/simple-pallet-example.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.