genericroboticarm.sila_server.generated.roboteachingservice package

Submodules

Module contents

class genericroboticarm.sila_server.generated.roboteachingservice.AddConnection_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new AddConnection_Responses object from a sequence or iterable

_replace(**kwds)

Return a new AddConnection_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.roboteachingservice.AddEdgeAttribute_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new AddEdgeAttribute_Responses object from a sequence or iterable

_replace(**kwds)

Return a new AddEdgeAttribute_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.roboteachingservice.AddIntermediates_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new AddIntermediates_Responses object from a sequence or iterable

_replace(**kwds)

Return a new AddIntermediates_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.roboteachingservice.AddPosition_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new AddPosition_Responses object from a sequence or iterable

_replace(**kwds)

Return a new AddPosition_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.roboteachingservice.ExecuteCustomCommand_Responses(Answer)[source]

Bases: NamedTuple

Answer: str

The robots answer

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ('Answer',)
classmethod _make(iterable)

Make a new ExecuteCustomCommand_Responses object from a sequence or iterable

_replace(**kwds)

Return a new ExecuteCustomCommand_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.roboteachingservice.GripClose_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new GripClose_Responses object from a sequence or iterable

_replace(**kwds)

Return a new GripClose_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.roboteachingservice.GripOpen_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new GripOpen_Responses object from a sequence or iterable

_replace(**kwds)

Return a new GripOpen_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.roboteachingservice.MoveRelative_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new MoveRelative_Responses object from a sequence or iterable

_replace(**kwds)

Return a new MoveRelative_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.roboteachingservice.RemoveConnection_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new RemoveConnection_Responses object from a sequence or iterable

_replace(**kwds)

Return a new RemoveConnection_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.roboteachingservice.RemovePosition_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new RemovePosition_Responses object from a sequence or iterable

_replace(**kwds)

Return a new RemovePosition_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.roboteachingservice.ReteachPosition_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new ReteachPosition_Responses object from a sequence or iterable

_replace(**kwds)

Return a new ReteachPosition_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.roboteachingservice.RoboTeachingServiceBase(parent_server: Server)[source]

Bases: FeatureImplementationBase, ABC

abstractmethod 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

abstractmethod AddEdgeAttribute(Source: str, Target: str, Key: str, Value: str, *, metadata: MetadataDict) → AddEdgeAttribute_Responses[source]
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

abstractmethod 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

abstractmethod 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

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

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

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

Closes the gripper

Parameters:

metadata – The SiLA Client Metadata attached to the call

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

Opens the gripper

Parameters:

metadata – The SiLA Client Metadata attached to the call

abstractmethod 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

abstractmethod 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

abstractmethod 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

abstractmethod 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>
abstractmethod 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

parent_server: Server

SiLA Server serving this feature implementation

class genericroboticarm.sila_server.generated.roboteachingservice.RoboTeachingServiceClient[source]

Bases: object

Provides a command for individual movements of joints and memorization of positions and paths

AddConnection(Tail: str, Head: str, *, metadata: Iterable[ClientMetadataInstance] | None = None) → AddConnection_Responses[source]

Adds a connection between two known positions to the movement graph

AddEdgeAttribute(Source: str, Target: str, Key: str, Value: str, *, metadata: Iterable[ClientMetadataInstance] | None = None) → AddEdgeAttribute_Responses[source]
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.

AddIntermediates(A: str, B: str, Number: int, NameGenerator: str, *, metadata: Iterable[ClientMetadataInstance] | None = None) → AddIntermediates_Responses[source]

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

AddPosition(PositionIdentifier: str, *, metadata: Iterable[ClientMetadataInstance] | None = None) → AddPosition_Responses[source]

Adds the current position to the movement graph

CurrentGraph: ClientUnobservableProperty[str]

Returns the current graph as networkx string

ExecuteCustomCommand(Command: str, *, metadata: Iterable[ClientMetadataInstance] | None = None) → ExecuteCustomCommand_Responses[source]

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

GripClose(*, metadata: Iterable[ClientMetadataInstance] | None = None) → GripClose_Responses[source]

Closes the gripper

GripOpen(*, metadata: Iterable[ClientMetadataInstance] | None = None) → GripOpen_Responses[source]

Opens the gripper

MoveRelative(Movements: List[Any], *, metadata: Iterable[ClientMetadataInstance] | None = None) → MoveRelative_Responses[source]

Moves the robotic arms joints by specified amounts

RemoveConnection(Tail: str, Head: str, *, metadata: Iterable[ClientMetadataInstance] | None = None) → RemoveConnection_Responses[source]

Forbids the robot to move straight between two positions.

RemovePosition(PositionIdentifier: str, *, metadata: Iterable[ClientMetadataInstance] | None = None) → RemovePosition_Responses[source]

Removes the current position to the graph

ReteachPosition(PositionIdentifier: str, *, metadata: Iterable[ClientMetadataInstance] | None = None) → ReteachPosition_Responses[source]

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