def get_notifications(self, since_imestamp: int) -> List[NotificationValue]:
"""
Gets names of all tracked values stored in given group.
:param since_imestamp:
:return:
"""
return rest.get_list(f"{URL}/notifications", NotificationValue, params={"since_imestamp": since_imestamp})
def get_pick_poses_for_gripper(self, item_id: str, tool_id: str, pose: Pose) -> List[GripperSetup]:
"""
Gets pick poses for specific tool and item.
:param item_id:
:param tool_id:
:param pose:
:return:
"""
return rest.get_list(f"{URL}/pick/grippers/setup", GripperSetup, pose, {"item_id": item_id, "tool_id": tool_id})
def get_pick_poses_for_suction(self, item_id: str, tool_id: str, pose: Pose) -> List[Pose]:
"""
Gets pick poses for specific suction and item.
:param item_id:
:param tool_id:
:param pose:
:return:
"""
return rest.get_list(f"{URL}/pick/suctions/poses", Pose, pose, params={"item_id": item_id, "tool_id": tool_id})
def get_values(self, group_id: str, name: str, since_timestamp: int = 0) -> List[StatisticValue]:
"""
Gets tracked values with the specified name. Values are sorted as were added to service.
:param group_id: Logged value name.
:param name: Logged value name.
:param since_timestamp: The date and time, as a UNIX timestamp in nanoseconds, after which created values
are returned.
:return:
"""
return rest.get_list(f"{URL}/values/{group_id}/{name}", StatisticValue,
params={"since_timestamp": since_timestamp})
def robot_joints(self, robot_id: str) -> List[Joint]:
return rest.get_list(f"{URL}/robots/{robot_id}/joints", Joint)
def get_meshes() -> MeshList:
return rest.get_list(f"{URL}/models/meshes", Mesh)