Robotics Nodes

IO/ROBOTICS/ARMS/MECADEMIC/ACTIVATE/ACTIVATE.py

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+from flojoy import flojoy, TextBlob
+from PYTHON.utils.mecademic_state.mecademic_state import query_for_handle
+
+
+@flojoy(deps={"mecademicpy": "1.4.0"})
+def ACTIVATE(ip_address: TextBlob, simulator: bool = False) -> TextBlob:
+    """
+    The ACTIVATE node activates the robot arm.
+
+    Inputs
+    ------
+    ip_address: TextBlob
+        The IP address of the robot arm.
+
+    Parameters
+    ------
+    simulator
+        Whether to activate the simulator or not. Defaults to False.
+
+    Returns
+    -------
+    ip
+        The IP address of the robot arm.
+
+    """
+    handle = query_for_handle(ip_address)
+    if simulator:
+        handle.ActivateSim()
+    else:
+        handle.ActivateRobot()
+    handle.WaitActivated()
+    return ip_address

IO/ROBOTICS/ARMS/MECADEMIC/ACTIVATE/app.json

@@ -0,0 +1,177 @@
+{
+    "rfInstance": {
+        "nodes": [
+            {
+                "width": 192,
+                "height": 192,
+                "id": "CONNECT-7ca02405-664b-43f0-a498-ef3ddecbd2b7",
+                "type": "INSTRUMENTS",
+                "data": {
+                    "id": "CONNECT-7ca02405-664b-43f0-a498-ef3ddecbd2b7",
+                    "label": "CONNECT",
+                    "func": "CONNECT",
+                    "type": "INSTRUMENTS",
+                    "ctrls": {
+                        "ip_address": {
+                            "type": "str",
+                            "default": null,
+                            "desc": null,
+                            "overload": null,
+                            "functionName": "CONNECT",
+                            "param": "ip_address",
+                            "value": ""
+                        }
+                    },
+                    "initCtrls": {},
+                    "outputs": [
+                        {
+                            "name": "default",
+                            "id": "default",
+                            "type": "TextBlob",
+                            "desc": "The IP address of the robot arm."
+                        }
+                    ],
+                    "pip_dependencies": [
+                        {
+                            "name": "mecademicpy",
+                            "v": "1.4.0"
+                        }
+                    ],
+                    "path": "PYTHON/nodes/INSTRUMENTS/MECADEMIC/CONNECT/CONNECT.py",
+                    "selected": false
+                },
+                "position": {
+                    "x": 149.79183394290823,
+                    "y": -219.99455021662578
+                },
+                "selected": false,
+                "positionAbsolute": {
+                    "x": 149.79183394290823,
+                    "y": -219.99455021662578
+                },
+                "dragging": true
+            },
+            {
+                "width": 192,
+                "height": 192,
+                "id": "ACTIVATE-83ad0faf-16a9-42c9-bcd2-fc0e0f25395b",
+                "type": "INSTRUMENTS",
+                "data": {
+                    "id": "ACTIVATE-83ad0faf-16a9-42c9-bcd2-fc0e0f25395b",
+                    "label": "ACTIVATE",
+                    "func": "ACTIVATE",
+                    "type": "INSTRUMENTS",
+                    "ctrls": {
+                        "simulator": {
+                            "type": "bool",
+                            "default": false,
+                            "desc": "Whether to activate the simulator or not. Defaults to False.",
+                            "overload": null,
+                            "functionName": "ACTIVATE",
+                            "param": "simulator",
+                            "value": false
+                        }
+                    },
+                    "initCtrls": {},
+                    "inputs": [
+                        {
+                            "name": "ip_address",
+                            "id": "ip_address",
+                            "type": "TextBlob",
+                            "multiple": false,
+                            "desc": "The IP address of the robot arm."
+                        }
+                    ],
+                    "outputs": [
+                        {
+                            "name": "default",
+                            "id": "default",
+                            "type": "TextBlob",
+                            "desc": "The IP address of the robot arm."
+                        }
+                    ],
+                    "pip_dependencies": [
+                        {
+                            "name": "mecademicpy",
+                            "v": "1.4.0"
+                        }
+                    ],
+                    "path": "PYTHON/nodes/INSTRUMENTS/MECADEMIC/ACTIVATE/ACTIVATE.py",
+                    "selected": false
+                },
+                "position": {
+                    "x": 527.703545775578,
+                    "y": -214.68035169098664
+                },
+                "selected": false,
+                "positionAbsolute": {
+                    "x": 527.703545775578,
+                    "y": -214.68035169098664
+                },
+                "dragging": true
+            },
+            {
+                "width": 192,
+                "height": 192,
+                "id": "DISCONNECT-508704f3-6da0-4541-8590-21a3b4318e0d",
+                "type": "INSTRUMENTS",
+                "data": {
+                    "id": "DISCONNECT-508704f3-6da0-4541-8590-21a3b4318e0d",
+                    "label": "DISCONNECT",
+                    "func": "DISCONNECT",
+                    "type": "INSTRUMENTS",
+                    "ctrls": {},
+                    "initCtrls": {},
+                    "inputs": [
+                        {
+                            "name": "ip_address",
+                            "id": "ip_address",
+                            "type": "TextBlob",
+                            "multiple": false,
+                            "desc": "The IP address of the robot arm."
+                        }
+                    ],
+                    "pip_dependencies": [
+                        {
+                            "name": "mecademicpy",
+                            "v": "1.4.0"
+                        }
+                    ],
+                    "path": "PYTHON/nodes/INSTRUMENTS/MECADEMIC/DISCONNECT/DISCONNECT.py",
+                    "selected": false
+                },
+                "position": {
+                    "x": 877.4514022741033,
+                    "y": -212.57592377531705
+                },
+                "selected": false,
+                "positionAbsolute": {
+                    "x": 877.4514022741033,
+                    "y": -212.57592377531705
+                },
+                "dragging": true
+            }
+        ],
+        "edges": [
+            {
+                "source": "CONNECT-7ca02405-664b-43f0-a498-ef3ddecbd2b7",
+                "sourceHandle": "default",
+                "target": "ACTIVATE-83ad0faf-16a9-42c9-bcd2-fc0e0f25395b",
+                "targetHandle": "ip_address",
+                "id": "reactflow__edge-CONNECT-7ca02405-664b-43f0-a498-ef3ddecbd2b7default-ACTIVATE-83ad0faf-16a9-42c9-bcd2-fc0e0f25395bip_address"
+            },
+            {
+                "source": "ACTIVATE-83ad0faf-16a9-42c9-bcd2-fc0e0f25395b",
+                "sourceHandle": "default",
+                "target": "DISCONNECT-508704f3-6da0-4541-8590-21a3b4318e0d",
+                "targetHandle": "ip_address",
+                "id": "reactflow__edge-ACTIVATE-83ad0faf-16a9-42c9-bcd2-fc0e0f25395bdefault-DISCONNECT-508704f3-6da0-4541-8590-21a3b4318e0dip_address"
+            }
+        ],
+        "viewport": {
+            "x": 669.537650867023,
+            "y": 398.1114317341454,
+            "zoom": 0.7467072297113905
+        }
+    }
+}

IO/ROBOTICS/ARMS/MECADEMIC/ACTIVATE/example.md

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+In this example, the `ACTIVATE` node is responsible for activating the MECADEMIC MECA500 robot arm. 
+
+The node takes in the IP address of the robot arm and an optional parameter to specify if the simulator should be activated instead of the actual robot arm. 
+
+After activation, the node returns the same IP address as an acknowledgment that the robot arm is now active.
+
+The `ACTIVATE` node is often the first node in a flow, ensuring that the robot arm is ready for subsequent operations.

IO/ROBOTICS/ARMS/MECADEMIC/CONNECT/CONNECT.py

@@ -0,0 +1,17 @@
+from flojoy import flojoy, TextBlob
+from PYTHON.utils.mecademic_state.mecademic_state import add_handle, init_handle_map
+
+
+@flojoy(deps={"mecademicpy": "1.4.0"})
+def CONNECT(ip_address: str) -> TextBlob:
+    """
+    The CONNECT node establishes a connection to the Mecademic robot arm via its API.
+
+    Returns
+    -------
+    String
+       The IP address of the robot arm.
+    """
+    init_handle_map(allow_reinit=True)
+    add_handle(ip_address)
+    return TextBlob(text_blob=ip_address)

IO/ROBOTICS/ARMS/MECADEMIC/CONNECT/app.json

@@ -0,0 +1,62 @@
+{
+    "rfInstance": {
+        "nodes": [
+            {
+                "width": 192,
+                "height": 192,
+                "id": "CONNECT-7ca02405-664b-43f0-a498-ef3ddecbd2b7",
+                "type": "INSTRUMENTS",
+                "data": {
+                    "id": "CONNECT-7ca02405-664b-43f0-a498-ef3ddecbd2b7",
+                    "label": "CONNECT",
+                    "func": "CONNECT",
+                    "type": "INSTRUMENTS",
+                    "ctrls": {
+                        "ip_address": {
+                            "type": "str",
+                            "default": null,
+                            "desc": null,
+                            "overload": null,
+                            "functionName": "CONNECT",
+                            "param": "ip_address",
+                            "value": ""
+                        }
+                    },
+                    "initCtrls": {},
+                    "outputs": [
+                        {
+                            "name": "default",
+                            "id": "default",
+                            "type": "TextBlob",
+                            "desc": "The IP address of the robot arm."
+                        }
+                    ],
+                    "pip_dependencies": [
+                        {
+                            "name": "mecademicpy",
+                            "v": "1.4.0"
+                        }
+                    ],
+                    "path": "PYTHON/nodes/INSTRUMENTS/MECADEMIC/CONNECT/CONNECT.py",
+                    "selected": true
+                },
+                "position": {
+                    "x": 147.11340802118116,
+                    "y": -226.6906150209435
+                },
+                "selected": true,
+                "positionAbsolute": {
+                    "x": 147.11340802118116,
+                    "y": -226.6906150209435
+                },
+                "dragging": true
+            }
+        ],
+        "edges": [],
+        "viewport": {
+            "x": 669.537650867023,
+            "y": 398.1114317341454,
+            "zoom": 0.7467072297113905
+        }
+    }
+}

IO/ROBOTICS/ARMS/MECADEMIC/CONNECT/example.md

@@ -0,0 +1,7 @@
+In this example, the `CONNECT` node establishes a connection with the MECADEMIC MECA500 robot arm. 
+
+The node takes in the IP address of the robot arm as an input. It initializes the handle map and adds a handle for the given IP address. 
+
+Upon successful connection, the node returns the IP address, confirming that the robot arm is now connected and ready for further operations.
+
+The `CONNECT` node is used at the beginning of a workflow to ensure that a connection is established before any other operations are carried out.

IO/ROBOTICS/ARMS/MECADEMIC/DELAY/DELAY.py

@@ -0,0 +1,30 @@
+from flojoy import flojoy, TextBlob
+from PYTHON.utils.mecademic_state.mecademic_state import query_for_handle
+
+
+@flojoy(deps={"mecademicpy": "1.4.0"})
+def DELAY(
+    ip_address: TextBlob,
+    time: float,
+) -> TextBlob:
+    """
+    The DELAY node delays the action between two nodes.
+
+    Inputs
+    ------
+    ip_address: TextBlob
+        The IP address of the robot arm.
+
+    time: float
+        The time of delay in seconds.
+
+    Returns
+    -------
+    ip_address
+        The IP address of the robot arm.
+
+    """
+    robot = query_for_handle(ip_address)
+    robot.Delay(time)
+    robot.WaitIdle()
+    return ip_address