genericroboticarm.sila_server.generated.roboteachingservice.roboteachingservice_base module

class genericroboticarm.sila_server.generated.roboteachingservice.roboteachingservice_base.RoboTeachingServiceBase(parent_server: Server)

Bases: FeatureImplementationBase, ABC

abstractmethod 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

abstractmethod 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

abstractmethod 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

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

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

abstractmethod GripClose(*, metadata: MetadataDict) → GripClose_Responses

Closes the gripper

Parameters:

metadata – The SiLA Client Metadata attached to the call

abstractmethod GripOpen(*, metadata: MetadataDict) → GripOpen_Responses

Opens the gripper

Parameters:

metadata – The SiLA Client Metadata attached to the call

abstractmethod 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

abstractmethod 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

abstractmethod 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

abstractmethod 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

__is_running: bool

__periodic_funcs: List[Callable[[], None]]

__started: bool

_abc_impl = <_abc._abc_data object>

abstractmethod 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

parent_server: Server

SiLA Server serving this feature implementation