genericroboticarm.sila_server.feature_implementations.roboteachingservice_impl module

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

Bases: RoboTeachingServiceBase

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

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

AddEdgeAttribute(Source: str, Target: str, Key: str, Value: str, *, metadata: MetadataDict) → AddEdgeAttribute_Responses

Adds an attribute to an existing connection of the movement graph. Edge attributes carry additional

instructions on how to move along that connection, for example which movement profile or which move command to use.

Parameters:

• Source – Source of the edge

• Target – Target of the edge

• Key – Name of the attribute

• Value – Value of the attribute

• metadata – The SiLA Client Metadata attached to the call

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

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

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

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

Parameters:

• Command – The command as string (however this is implemented)

• metadata – The SiLA Client Metadata attached to the call

Returns:

• Answer: The robots answer

GripClose(*, metadata: MetadataDict) → GripClose_Responses

Closes the gripper

Parameters:

metadata – The SiLA Client Metadata attached to the call

GripOpen(*, metadata: MetadataDict) → GripOpen_Responses

Opens the gripper

Parameters:

metadata – The SiLA Client Metadata attached to the call

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

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

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

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

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

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