SET_JOINT_VEL

The SET_JOINT_VEL node sets the robot arm's angular velocity for its joints. Params: v : float The angular velocity to be set for each joint. Inputs : ------ : ip_address : String The IP address of the robot arm. Returns: out : String The IP address of the robot arm.

Python Code

from flojoy import flojoy, String
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_JOINT_VEL(ip_address: String, v: float) -> String:
    """
    The SET_JOINT_VEL node sets the robot arm's angular velocity for its joints.

    Parameters
    ----------
    v : float
        The angular velocity to be set for each joint.

    Inputs
    ------
    ip_address: String
        The IP address of the robot arm.


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

    """
    robot = query_for_handle(ip_address)
    robot.SetJointVel(v)
    return ip_address

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Example

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In this example, the SET_JOINT_VEL node sets the angular velocity for the joints of the robot arm.

The node takes in a single parameter, v, which is the angular velocity to be set for each joint of the robot arm.

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_JOINT_VEL node is useful in workflows where you need to control the speed of the robot arm’s joint movements, such as when performing tasks that require varying speeds for different joints.