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SET_JOINT_VEL

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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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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 doesnโ€™t wait for any specific state, meaning itโ€™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 armโ€™s joint movements, such as when performing tasks that require varying speeds for different joints.