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Home the robot arm. This block is required to be run before any other robot arm movement. It is recommended to run this block immediately after "ACTIVATE". The robot is expected to move a little bit during the running of this node. Params: 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 HOME(ip_address: String) -> String:
    """
    Home the robot arm. This block is required to be run before any other robot arm movement. It is recommended to run this block immediately after "ACTIVATE". The robot is expected to move a little bit during the running of this node.

    Parameters
    ----------
    Parameters
    ----------
    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.Home()
    robot.WaitHomed()
    return ip_address

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In this example, the HOME node homes the robot arm, setting it to its default position.

This node is essential to run before any other movement operations on the robot arm. It’s recommended to use this node immediately after the ACTIVATE node to ensure the robot arm is in a known state.

After the homing process, the node waits for confirmation that the robot arm has been successfully homed.