genericroboticarm.sila_server.feature_implementations.roboteachingservice_impl module

class genericroboticarm.sila_server.feature_implementations.roboteachingservice_impl.RoboTeachingServiceImpl(parent_server: Server)[source]

Bases: RoboTeachingServiceBase

AddConnection(Tail: str, Head: str, *, metadata: MetadataDict) → AddConnection_Responses[source]

Adds a connection between two known positions to the movement graph

Parameters:

  • Tail – Tail of the edge

  • Head – Head of the edge

  • metadata – The SiLA Client Metadata attached to the call

AddIntermediates(A: str, B: str, Number: int, NameGenerator: str, *, metadata: MetadataDict) → AddIntermediates_Responses[source]

Add a number of equidistant positions A and B on a line between two positions.

Parameters:

  • A – Identifier of position A

  • B – Identifier of position B

  • Number – Number of intermediate positions

  • NameGenerator – Specify a python name generator (without the leading ‘f’ or “ or ‘ around) that receives the number of the intermediate position as parameter i starting with 0 for the intermediate position nearest to A. For example intermediate_{i+1}.

  • metadata – The SiLA Client Metadata attached to the call

AddPosition(PositionIdentifier: str, *, metadata: MetadataDict) → AddPosition_Responses[source]

Adds the current position to the movement graph

Parameters:

  • PositionIdentifier – Name of the new position

  • metadata – The SiLA Client Metadata attached to the call

ExecuteCustomCommand(Command: str, *, metadata: MetadataDict) → ExecuteCustomCommand_Responses[source]

Executes a custom command specified by a string. The actual effect is implementation specific.

param Command:

The command as string (however this is implemented)

param metadata:

The SiLA Client Metadata attached to the call

return:

  • Answer: The robots answer

GripClose(*, metadata: MetadataDict) → GripClose_Responses[source]

Closes the gripper

Parameters:

metadata – The SiLA Client Metadata attached to the call

GripOpen(*, metadata: MetadataDict) → GripOpen_Responses[source]

Opens the gripper

Parameters:

metadata – The SiLA Client Metadata attached to the call

MoveRelative(Movements: List[Any], *, metadata: MetadataDict) → MoveRelative_Responses[source]

Moves the robotic arms joints by specified amounts

Parameters:

  • Movements – List of movements of individual joints

  • metadata – The SiLA Client Metadata attached to the call

RemoveConnection(Tail: str, Head: str, *, metadata: MetadataDict) → RemoveConnection_Responses[source]

Forbids the robot to move straight between two positions.

Parameters:

  • Tail – Tail of the edge

  • Head – Head of the edge

  • metadata – The SiLA Client Metadata attached to the call

RemovePosition(PositionIdentifier: str, *, metadata: MetadataDict) → RemovePosition_Responses[source]

Removes the current position to the graph

Parameters:

  • PositionIdentifier – Name of the new Position

  • metadata – The SiLA Client Metadata attached to the call

ReteachPosition(PositionIdentifier: str, *, metadata: MetadataDict) → ReteachPosition_Responses[source]

Reteaches the current position in the movement graph to the current robot position.

Parameters:

  • PositionIdentifier – Name of the new position

  • metadata – The SiLA Client Metadata attached to the call

_abc_impl = <_abc._abc_data object>
get_CurrentGraph(*, metadata: MetadataDict) → str[source]

Returns the current graph as networkx string

Parameters:

metadata – The SiLA Client Metadata attached to the call

Returns:

Returns the current graph as networkx string