def scan(self, scanner_id: str) -> str:
"""
Gets scan.
:param scanner_id:
:return:
"""
return rest.get_primitive(f"{URL}/scanners/{scanner_id}/scan", str)
def active(url: str) -> Optional[str]:
return rest.get_primitive(f"{url}/systems/active", str)
def is_item_attached(self, robot_id: str, suction_id: str) -> bool:
return rest.get_primitive(
f"{URL}/robots/{robot_id}/suctions/{suction_id}/attached", bool)
def is_item_gripped(self, robot_id: str, gripper_id: str) -> bool:
return rest.get_primitive(
f"{URL}/robots/{robot_id}/grippers/{gripper_id}/gripped", bool)
def get_gripper_opening(self, robot_id: str, gripper_id: str) -> float:
return rest.get_primitive(
f"{URL}/robots/{robot_id}/grippers/{gripper_id}/opening", float)
def get_output(self, robot_id: str, output_id: str) -> float:
return rest.get_primitive(
f"{URL}/robots/{robot_id}/outputs/{output_id}", float)
def get_input(self, robot_id: str, input_id: str) -> float:
super(RestRobotService, self).get_input(robot_id, input_id)
return rest.get_primitive(f"{URL}/robots/{robot_id}/inputs/{input_id}",
float)