SET_CART_LIN_VEL

Set the robot arm's linear velocity in Cartesian coordinates. Params: v : float The velocity to be set. ip_address : TextBlob The IP address of the robot arm Returns: out : ip_address The IP address of the robot arm.

Python Code

from flojoy import flojoy, TextBlob
from PYTHON.utils.mecademic_state.mecademic_state import query_for_handle
from PYTHON.utils.mecademic_state.mecademic_helpers import safe_robot_operation


@safe_robot_operation
@flojoy(deps={"mecademicpy": "1.4.0"})
def SET_CART_LIN_VEL(ip_address: TextBlob, v: float) -> TextBlob:
    """
    Set the robot arm's linear velocity in Cartesian coordinates.

    Parameters
    ----------
    v : float
        The velocity to be set.
    ip_address: TextBlob
        The IP address of the robot arm

    Returns
    -------
    ip_address
        The IP address of the robot arm.
    """

    robot = query_for_handle(ip_address)
    robot.SetCartLinVel(v)
    return ip_address

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Example

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In this example, the SET_CART_LIN_VEL node sets the linear velocity of the robot arm in Cartesian coordinates.

The node takes in a single parameter, v, which is the velocity to be set for the robot arm’s movements.

After setting the velocity, the node doesn’t wait for any specific state, meaning it’s often used in conjunction with other movement nodes to control the speed of those movements.

The SET_CART_LIN_VEL node is useful in workflows where you need to control the speed of the robot arm’s linear movements, such as when you’re trying to synchronize the robot arm with another moving object.