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SET_TRF

The SET_TRF node sets the robot arm's reference frame. Inputs ------ ip_address: String The IP address of the robot arm. Params: rf_x : float The X coordinate of the reference plane. If not specified, the default value of 0.0 is used. rf_y : float The Y coordinate of the reference plane. If not specified, the default value of 0.0 is used. rf_z : float The Z coordinate of the reference plane. If not specified, the default value of 0.0 is used. rf_a : float The alpha angle of the reference plane. If not specified, the default value of 0.0 is used. rf_b : float The beta angle of the reference plane. If not specified, the default value of 0.0 is used. rf_g : float The gamma angle of the reference plane. If not specified, the default value of 0.0 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_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_TRF(
    ip_address: String,
    rf_x: float = 0.0,
    rf_y: float = 0.0,
    rf_z: float = 0.0,
    rf_a: float = 0.0,
    rf_b: float = 0.0,
    rf_g: float = 0.0,
) -> String:
    """
     The SET_TRF node sets the robot arm's reference frame.

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

    Parameters
    ----------
    rf_x: float
        The X coordinate of the reference plane. If not specified, the default value of 0.0 is used.
    rf_y: float
        The Y coordinate of the reference plane. If not specified, the default value of 0.0 is used.
    rf_z: float
        The Z coordinate of the reference plane. If not specified, the default value of 0.0 is used.
    rf_a: float
        The alpha angle of the reference plane. If not specified, the default value of 0.0 is used.
    rf_b: float
        The beta angle of the reference plane. If not specified, the default value of 0.0 is used.
    rf_g: float
        The gamma angle of the reference plane. If not specified, the default value of 0.0 is used.

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

    """
    robot = query_for_handle(ip_address)
    robot.SetTRF(rf_x, rf_y, rf_z, rf_a, rf_b, rf_g)
    return ip_address

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Example

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React Flow mini map

In this example, the SET_TRF node sets the tool refernece frame for the robot arm.