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MOVE_CIRCLE

MOVE CIRCLE is an action node that moves the mecademic robot along a circular path defined by a center point about its current position.. It is equivalent to the combination of generating circle keyframes at the robot's current position and then running move keyframes. This node is useful for executing circular moves in tool relative space. A high blending value is recommended for a smooth circular move. Params: ip_address : String The IP address of the robot arm. radius : float The radius of the circle. If not specified, the default value of 0.0 is used. revolutions : float The number of revolutions to make. If not specified, the default value of 1.0 is used. Returns: out : String The IP address of the robot arm.
Python Code
from flojoy import flojoy, String
from PYTHON.utils.mecademic_state.mecademic_calculations import get_circle_positions
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 MOVE_CIRCLE(
    ip_address: String,
    radius: float = 0.0,
    revolutions: float = 1.0,
) -> String:
    """
    MOVE CIRCLE is an action node that moves the mecademic robot along a circular path defined by a center point about its current position.. It is equivalent to the combination of generating circle keyframes at the robot's current position and then running move keyframes. This node is useful for executing circular moves in tool relative space. A high blending value is recommended for a smooth circular move.

    Parameters
    ----------
    ip_address: String
        The IP address of the robot arm.
    radius: float
        The radius of the circle. If not specified, the default value of 0.0 is used.
    revolutions: float
        The number of revolutions to make. If not specified, the default value of 1.0 is used.

    Returns
    -------
    String
        The IP address of the robot arm.

    """
    robot = query_for_handle(ip_address)

    X, Y, Z, alpha, beta, gamma = robot.GetPose()

    positions = get_circle_positions(radius, revolutions, (X, Y, Z))
    for position in positions:
        robot.MoveLin(
            x=position[0],
            y=position[1],
            z=position[2],
            alpha=alpha,
            beta=beta,
            gamma=gamma,
        )
    robot.MoveLin(x=X, y=Y, z=Z, alpha=alpha, beta=beta, gamma=gamma)

    return ip_address

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Example

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React Flow mini map

In this example, the Mecademic bot is moved in a circle relative to a reference frame.