Slower Movements for multiple move commands from adapter

Q&A
1

Dear Mech-Mind Team,
is there a possible solution for creating “movement groups” or something similiar, where I can set the max. velocity and max. acceleration for multiple movements from the adapter?

Background:
Knowing the weight of the item in the Adapter, I would like to make all movements slower based on the item weight, when the item is attached, while all other moves can have the full velocity.

ie. item weight = 50g, “item_attached_group_velocity” = 100%
ie. item weight = 500g, “item_attached_group_velocity” = 70%,
… etc.

this would effect ~20 movement commands in my viz project before each start.

Thanks for the help,
Jonathan

2

Hi, Jonathan,

What you’re asking for can be done.

In the adapter generator, set the parameters you want to change,
like this：

image
image662×556 17 KB

Then send the command to modify the speed and acceleration of the step.

image
image1488×305 33.9 KB

It is important to note that you need to set the step properties before running the Mech-Viz

3

Hi Haochen,
thank you for your response.

So basically this will set the velocity and acceleration for each step separately.

In a more high level approch this would look like:

def setVelocity():
    msg = {
          "function": "setProperties", 
          "name": "move_1", 
          "values": {
                     "velocity": 0.01, 
                     "acceleration": 0.01
           } 
    }
    return hub_caller.call("forward", {"name": "executor", "message": msg})

I would then need to call this function for all movement commands - is that correct?
If so, is it possible to send just one message to the hub caller with multiple “function calls”?

Thank you for your help,
Jonathan

4
  1. Yes
  2. No, You can only call this function multiple times because this function is designed to set properties for one step, not for multiple steps.
5

Hi Jonathan,
What‘s the reason you want to change the speed in Viz. Do you use master control + adapter ?

6

Hi Bo,
Yes I am using MasterControl + Adapter.

I believe it makes sense to have two different “velocitiy groups” for pick robot applications:
1.) No item on the endeffector
2.) item on the endeffector

I didn’t find any option for “velocity groups” or something like that. So for now I created a list of all movements by their stepname and loop over it before starting Viz, setting the velocity for each command.

It would be quite nice to set a velocity group for motion commands and set some global velocity to those motion groups in the adapter.

Best,
Jonathan

1 Like
7

Understand. We will plan for it.

1 Like