niryo_libraries.niryo_robot_user_interface.tcp_server.command_interpreter.CommandInterpreter

class documentation

class CommandInterpreter:

View In Hierarchy

Object which interpret commands from TCP Client, and then, call Niryo Python ROS Wrapper to execute these commands

Static Method generate_dict_failure Undocumented
Method __init__ Undocumented
Method interpret_command Undocumented
Static Method __send_answer_with_payload Undocumented
Method __activate_electromagnet Undocumented
Method __analog_read Undocumented
Method __analog_write Undocumented
Method __calibrate Undocumented
Method __check_and_get_from_dict Check if a value belong to a dictionary and return it
Method __check_color_led_ring Undocumented
Method __check_dict_belonging Check if a value belong to a dictionary
Method __check_instance Undocumented
Method __check_list_belonging Check if a value belong to a list
Method __check_list_type Undocumented
Method __check_type Undocumented
Method __clean_trajectory_memory Undocumented
Method __close_gripper Undocumented
Method __control_conveyor Undocumented
Method __custom_button_state Undocumented
Method __deactivate_electromagnet Undocumented
Method __delete_dynamic_frame Undocumented
Method __delete_pose Undocumented
Method __delete_trajectory Undocumented
Method __delete_workspace Undocumented
Method __detect_object Undocumented
Method __digital_read Undocumented
Method __digital_write Undocumented
Method __edit_dynamic_frame Undocumented
Method __enable_tcp Undocumented
Method __execute_registered_trajectory Undocumented
Method __execute_trajectory_from_poses Undocumented
Method __execute_trajectory_from_poses_and_joints Undocumented
Method __forward_kinematics Undocumented
Method __generate_functions_dict Generate a dict with the format : {command_1 : function_to_call_1, command_2 : function_to_call_2...} WARNING -> function name should have the following format : function_to_call_1 = __command_1.lower() For instance GRASP_WITH_TOOL is associated to "__grasp_with_tool" :return: dict...
Method __get_analog_io_state Undocumented
Method __get_camera_intrinsics Undocumented
Method __get_connected_conveyors_id Undocumented
Method __get_current_tool_id Undocumented
Method __get_digital_io_state Undocumented
Method __get_hardware_status Undocumented
Method __get_image_compressed Undocumented
Method __get_image_parameters Undocumented
Method __get_joints Undocumented
Method __get_learning_mode Undocumented
Method __get_pose Undocumented
Method __get_pose_quat Undocumented
Method __get_pose_saved Undocumented
Method __get_saved_dynamic_frame Undocumented
Method __get_saved_dynamic_frame_list Undocumented
Method __get_saved_pose_list Undocumented
Method __get_saved_trajectory_list Undocumented
Method __get_sound_duration Undocumented
Method __get_sounds Undocumented
Method __get_target_pose_from_cam Undocumented
Method __get_target_pose_from_rel Undocumented
Method __get_trajectory_saved Undocumented
Method __get_workspace_list Undocumented
Method __get_workspace_ratio Undocumented
Method __grasp_with_tool Undocumented
Method __inverse_kinematics Undocumented
Method __jog_joints Undocumented
Method __jog_pose Undocumented
Method __led_ring_alternate Undocumented
Method __led_ring_breath Undocumented
Method __led_ring_chase Undocumented
Method __led_ring_custom Undocumented
Method __led_ring_flash Undocumented
Method __led_ring_go_up Undocumented
Method __led_ring_go_up_down Undocumented
Method __led_ring_rainbow Undocumented
Method __led_ring_rainbow_chase Undocumented
Method __led_ring_rainbow_cycle Undocumented
Method __led_ring_set_led Undocumented
Method __led_ring_snake Undocumented
Method __led_ring_solid Undocumented
Method __led_ring_turn_off Undocumented
Method __led_ring_wipe Undocumented
Method __map_list Try to map a list to another type (Very useful for list like joints which are acquired as string)
Method __move_joints Undocumented
Method __move_linear_pose Undocumented
Method __move_linear_relative Undocumented
Method __move_pose Undocumented
Method __move_relative Undocumented
Method __move_to_object Undocumented
Method __not_implemented_function Undocumented
Method __open_gripper Undocumented
Method __pick_and_place Undocumented
Method __pick_from_pose Undocumented
Method __place_from_pose Undocumented
Method __play_sound Undocumented
Method __pull_air_vacuum_pump Undocumented
Method __push_air_vacuum_pump Undocumented
Method __raise_exception_expected_choice Undocumented
Method __raise_exception_expected_parameters_nbr Undocumented
Method __raise_exception_expected_type Undocumented
Method __release_with_tool Undocumented
Method __reset_tcp Undocumented
Method __save_dynamic_frame_from_points Undocumented
Method __save_dynamic_frame_from_poses Undocumented
Method __save_last_learned_trajectory Undocumented
Method __save_pose Undocumented
Method __save_trajectory Undocumented
Method __save_workspace_from_points Undocumented
Method __save_workspace_from_poses Undocumented
Method __say Undocumented
Method __send_answer Return success with empty payload
Method __set_arm_max_velocity Undocumented
Method __set_conveyor Undocumented
Method __set_image_brightness Undocumented
Method __set_image_contrast Undocumented
Method __set_image_saturation Undocumented
Method __set_jog_control Undocumented
Method __set_learning_mode Undocumented
Method __set_pin_mode Undocumented
Method __set_tcp Undocumented
Method __set_volume Undocumented
Method __setup_electromagnet Undocumented
Method __shift_linear_pose Undocumented
Method __shift_pose Undocumented
Method __stop_sound Undocumented
Method __tool_reboot Undocumented
Method __transform_to_type Try to change value type to another
Method __unset_conveyor Undocumented
Method __update_tool Undocumented
Method __update_trajectory_infos Undocumented
Method __vision_pick Undocumented
Instance Variable __available_tools_string_dict_convertor_inv Undocumented
Instance Variable __axis_string_dict_convertor Undocumented
Instance Variable __boolean_string_dict_converter Undocumented
Instance Variable __commands_dict Undocumented
Instance Variable __conveyor_direction_string_dict_convertor Undocumented
Instance Variable __conveyor_id_string_dict_convertor Undocumented
Instance Variable __conveyor_id_string_dict_convertor_inv Undocumented
Instance Variable __digital_state_string_dict_convertor Undocumented
Instance Variable __digital_state_string_dict_convertor_inv Undocumented
Instance Variable __grippers_string_dict_convertor Undocumented
Instance Variable __niryo_robot Undocumented
Instance Variable __pin_mode_string_dict_convertor Undocumented
Instance Variable __tools_string_dict_convertor Undocumented
@staticmethod
def generate_dict_failure(command='', message='Failure in command_interpreter'):

Undocumented

def __init__(self):

Undocumented

def interpret_command(self, dict_command_received):

Undocumented

@staticmethod
def __send_answer_with_payload(payload, *params):

Undocumented

@check_nb_args(1)
def __activate_electromagnet(self, pin_string):

Undocumented

@check_nb_args(1)
def __analog_read(self, pin_string):

Undocumented

@check_nb_args(2)
def __analog_write(self, pin_string, voltage):

Undocumented

@check_nb_args(1)
def __calibrate(self, calibrate_mode):

Undocumented

def __check_and_get_from_dict(self, value, dict_):

Check if a value belong to a dictionary and return it

def __check_color_led_ring(self, color):

Undocumented

def __check_dict_belonging(self, value, dict_):

Check if a value belong to a dictionary

def __check_instance(self, value, type_):

Undocumented

def __check_list_belonging(self, value, list_):

Check if a value belong to a list

def __check_list_type(self, list_, type_):

Undocumented

def __check_type(self, value, type_):

Undocumented

@check_nb_args(0)
def __clean_trajectory_memory(self):

Undocumented

@check_nb_args(3)
def __close_gripper(self, speed, max_troque_percentage, hold_torque_percentage):

Undocumented

@check_nb_args(4)
def __control_conveyor(self, conveyor_id_string, control_on_string, speed, direction_string):

Undocumented

@check_nb_args(0)
def __custom_button_state(self):

Undocumented

@check_nb_args(1)
def __deactivate_electromagnet(self, pin_string):

Undocumented

@check_nb_args(2)
def __delete_dynamic_frame(self, *param_list):

Undocumented

@check_nb_args(1)
def __delete_pose(self, *param_list):

Undocumented

@check_nb_args(1)
def __delete_trajectory(self, *param_list):

Undocumented

@check_nb_args(1)
def __delete_workspace(self, name):

Undocumented

@check_nb_args(3)
def __detect_object(self, *param_list):

Undocumented

@check_nb_args(1)
def __digital_read(self, pin_string):

Undocumented

@check_nb_args(2)
def __digital_write(self, pin_string, state_string):

Undocumented

@check_nb_args(3)
def __edit_dynamic_frame(self, *param_list):

Undocumented

@check_nb_args(1)
def __enable_tcp(self, enable):

Undocumented

@check_nb_args(1)
def __execute_registered_trajectory(self, *param_list):

Undocumented

@check_nb_args(2)
def __execute_trajectory_from_poses(self, *param_list):

Undocumented

@check_nb_args(3)
def __execute_trajectory_from_poses_and_joints(self, *param_list):

Undocumented

@check_nb_args(6)
def __forward_kinematics(self, *param_list):

Undocumented

def __generate_functions_dict(self):

Generate a dict with the format : {command_1 : function_to_call_1, command_2 : function_to_call_2...} WARNING -> function name should have the following format : function_to_call_1 = __command_1.lower() For instance GRASP_WITH_TOOL is associated to "__grasp_with_tool" :return: dict

@check_nb_args(0)
def __get_analog_io_state(self):

Undocumented

@check_nb_args(0)
def __get_camera_intrinsics(self):

Undocumented

@check_nb_args(0)
def __get_connected_conveyors_id(self):

Undocumented

@check_nb_args(0)
def __get_current_tool_id(self):

Undocumented

@check_nb_args(0)
def __get_digital_io_state(self):

Undocumented

@check_nb_args(0)
def __get_hardware_status(self):

Undocumented

@check_nb_args(0)
def __get_image_compressed(self):

Undocumented

@check_nb_args(0)
def __get_image_parameters(self):

Undocumented

@check_nb_args(0)
def __get_joints(self):

Undocumented

@check_nb_args(0)
def __get_learning_mode(self):

Undocumented

@check_nb_args(0)
def __get_pose(self):

Undocumented

@check_nb_args(0)
def __get_pose_quat(self):

Undocumented

@check_nb_args(1)
def __get_pose_saved(self, *param_list):

Undocumented

@check_nb_args(1)
def __get_saved_dynamic_frame(self, *param_list):

Undocumented

@check_nb_args(0)
def __get_saved_dynamic_frame_list(self):

Undocumented

@check_nb_args(0)
def __get_saved_pose_list(self):

Undocumented

@check_nb_args(0)
def __get_saved_trajectory_list(self):

Undocumented

@check_nb_args(1)
def __get_sound_duration(self, sound_name):

Undocumented

@check_nb_args(0)
def __get_sounds(self):

Undocumented

@check_nb_args(4)
def __get_target_pose_from_cam(self, *param_list):

Undocumented

@check_nb_args(5)
def __get_target_pose_from_rel(self, *param_list):

Undocumented

@check_nb_args(1)
def __get_trajectory_saved(self, *param_list):

Undocumented

@check_nb_args(0)
def __get_workspace_list(self):

Undocumented

@check_nb_args(1)
def __get_workspace_ratio(self, workspace_name):

Undocumented

@check_nb_args(0)
def __grasp_with_tool(self):

Undocumented

@check_nb_args(6)
def __inverse_kinematics(self, *param_list):

Undocumented

@check_nb_args(6)
def __jog_joints(self, *param_list):

Undocumented

@check_nb_args(6)
def __jog_pose(self, *param_list):

Undocumented

@check_nb_args(4)
def __led_ring_alternate(self, color_list, period, iterations, wait):

Undocumented

@check_nb_args(4)
def __led_ring_breath(self, color, period, iterations, wait):

Undocumented

@check_nb_args(4)
def __led_ring_chase(self, color, period, iterations, wait):

Undocumented

@check_nb_args(1)
def __led_ring_custom(self, color_list):

Undocumented

@check_nb_args(4)
def __led_ring_flash(self, color, period, iterations, wait):

Undocumented

@check_nb_args(4)
def __led_ring_go_up(self, color, period, iterations, wait):

Undocumented

@check_nb_args(4)
def __led_ring_go_up_down(self, color, period, iterations, wait):

Undocumented

@check_nb_args(3)
def __led_ring_rainbow(self, period, iterations, wait):

Undocumented

@check_nb_args(3)
def __led_ring_rainbow_chase(self, period, iterations, wait):

Undocumented

@check_nb_args(3)
def __led_ring_rainbow_cycle(self, period, iterations, wait):

Undocumented

@check_nb_args(2)
def __led_ring_set_led(self, led_id, color):

Undocumented

@check_nb_args(4)
def __led_ring_snake(self, color, period, iterations, wait):

Undocumented

@check_nb_args(2)
def __led_ring_solid(self, color, wait):

Undocumented

@check_nb_args(1)
def __led_ring_turn_off(self, wait):

Undocumented

@check_nb_args(3)
def __led_ring_wipe(self, color, period, wait):

Undocumented

def __map_list(self, list_, type_):

Try to map a list to another type (Very useful for list like joints which are acquired as string)

@check_nb_args(6)
def __move_joints(self, *param_list):

Undocumented

@check_nb_args(7)
def __move_linear_pose(self, *param_list):

Undocumented

@check_nb_args(2)
def __move_linear_relative(self, *param_list):

Undocumented

@check_nb_args(7)
def __move_pose(self, *param_list):

Undocumented

@check_nb_args(2)
def __move_relative(self, *param_list):

Undocumented

@check_nb_args(4)
def __move_to_object(self, *param_list):

Undocumented

def __not_implemented_function(self, *_):

Undocumented

@check_nb_args(3)
def __open_gripper(self, speed, max_troque_percentage, hold_torque_percentage):

Undocumented

@check_nb_args(3)
def __pick_and_place(self, *param_list):

Undocumented

@check_nb_args(6)
def __pick_from_pose(self, *param_list):

Undocumented

@check_nb_args(6)
def __place_from_pose(self, *param_list):

Undocumented

@check_nb_args(4)
def __play_sound(self, sound_name, wait_end, start_time_sec, end_time_sec):

Undocumented

@check_nb_args(0)
def __pull_air_vacuum_pump(self):

Undocumented

@check_nb_args(0)
def __push_air_vacuum_pump(self):

Undocumented

def __raise_exception_expected_choice(self, expected_choice, given):

Undocumented

def __raise_exception_expected_parameters_nbr(self, expected_nbr, given):

Undocumented

def __raise_exception_expected_type(self, expected_type, given):

Undocumented

@check_nb_args(0)
def __release_with_tool(self):

Undocumented

@check_nb_args(0)
def __reset_tcp(self):

Undocumented

@check_nb_args(6)
def __save_dynamic_frame_from_points(self, *param_list):

Undocumented

@check_nb_args(6)
def __save_dynamic_frame_from_poses(self, *param_list):

Undocumented

@check_nb_args(2)
def __save_last_learned_trajectory(self, *param_list):

Undocumented

@check_nb_args(7)
def __save_pose(self, *param_list):

Undocumented

@check_nb_args(3)
def __save_trajectory(self, *param_list):

Undocumented

@check_nb_args(5)
def __save_workspace_from_points(self, *param_list):

Undocumented

@check_nb_args(5)
def __save_workspace_from_poses(self, *param_list):

Undocumented

@check_nb_args(2)
def __say(self, text, language):

Undocumented

def __send_answer(self, *params):

Return success with empty payload

@check_nb_args(1)
def __set_arm_max_velocity(self, max_velocity_percentage):

Undocumented

@check_nb_args(0)
def __set_conveyor(self):

Undocumented

@check_nb_args(1)
def __set_image_brightness(self, brightness_factor):

Undocumented

@check_nb_args(1)
def __set_image_contrast(self, contrast_factor):

Undocumented

@check_nb_args(1)
def __set_image_saturation(self, saturation_factor):

Undocumented

@check_nb_args(1)
def __set_jog_control(self, state_string):

Undocumented

@check_nb_args(1)
def __set_learning_mode(self, state_string):

Undocumented

@check_nb_args(2)
def __set_pin_mode(self, pin_string, pin_mode_string):

Undocumented

@check_nb_args(6)
def __set_tcp(self, *param_list):

Undocumented

@check_nb_args(1)
def __set_volume(self, sound_volume):

Undocumented

@check_nb_args(1)
def __setup_electromagnet(self, pin_string):

Undocumented

@check_nb_args(2)
def __shift_linear_pose(self, axis_string, value_string):

Undocumented

@check_nb_args(2)
def __shift_pose(self, axis_string, value_string):

Undocumented

@check_nb_args(0)
def __stop_sound(self):

Undocumented

@check_nb_args(0)
def __tool_reboot(self):

Undocumented

def __transform_to_type(self, value, type_):

Try to change value type to another

@check_nb_args(1)
def __unset_conveyor(self, conveyor_id_string):

Undocumented

@check_nb_args(0)
def __update_tool(self):

Undocumented

@check_nb_args(3)
def __update_trajectory_infos(self, *param_list):

Undocumented

@check_nb_args(4)
def __vision_pick(self, *param_list):

Undocumented

__available_tools_string_dict_convertor_inv =

Undocumented

__axis_string_dict_convertor =

Undocumented

__boolean_string_dict_converter: dict[str, bool] =

Undocumented

__commands_dict =

Undocumented

__conveyor_direction_string_dict_convertor =

Undocumented

__conveyor_id_string_dict_convertor =

Undocumented

__conveyor_id_string_dict_convertor_inv =

Undocumented

__digital_state_string_dict_convertor =

Undocumented

__digital_state_string_dict_convertor_inv =

Undocumented

__grippers_string_dict_convertor =

Undocumented

__niryo_robot =

Undocumented

__pin_mode_string_dict_convertor =

Undocumented

__tools_string_dict_convertor =

Undocumented