def func_2(self) -> None:
"""
Test subject
:return:
"""
raise Arcor2NotImplemented("This function is not implemented.")
def forward_kinematics(self, end_effector_id: str,
joints: List[Joint]) -> Pose:
"""Computes forward kinematics.
:param end_effector_id: Target end effector name
:param joints: Input joint values
:return: Pose of the given end effector
"""
raise Arcor2NotImplemented()
def depth_image(self,
averaged_frames: int = 1,
*,
an: Optional[str] = None) -> Image.Image:
"""This should provide depth image transformed into color camera
perspective.
:return:
"""
raise Arcor2NotImplemented()
def parameter_ast(
cls, type_defs: TypesDict, scene: CScene, project: CProject, action_id: str, parameter_id: str
) -> AST:
"""Used for generating the main script logic.
:param type_defs:
:param scene:
:param project:
:param action_id:
:param parameter_id:
:return:
"""
raise Arcor2NotImplemented()
def move_to_joints(self,
target_joints: List[Joint],
speed: float,
safe: bool = True) -> None:
"""Sets target joint values.
:param target_joints:
:param speed:
:param safe:
:return:
"""
assert 0.0 <= speed <= 1.0
raise Arcor2NotImplemented("Robot does not support moving to joints.")
def inverse_kinematics(
self,
end_effector_id: str,
pose: Pose,
start_joints: Optional[List[Joint]] = None,
avoid_collisions: bool = True,
) -> List[Joint]:
"""Computes inverse kinematics.
:param end_effector_id: IK target pose end-effector
:param pose: IK target pose
:param start_joints: IK start joints
:param avoid_collisions: Return non-collision IK result if true
:return: Inverse kinematics
"""
raise Arcor2NotImplemented()
def move_to_pose(self,
end_effector_id: str,
target_pose: Pose,
speed: float,
safe: bool = True) -> None:
"""Move given robot's end effector to the selected pose.
:param end_effector_id:
:param target_pose:
:param speed:
:param safe:
:return:
"""
assert 0.0 <= speed <= 1.0
raise Arcor2NotImplemented("Robot does not support moving to pose.")
def func_6(self) -> None:
raise Arcor2NotImplemented(1)
def func_3(self) -> None:
var = 1 + 2
raise Arcor2NotImplemented(f"{var}")
def move_to_calibration_pose(self) -> None:
raise Arcor2NotImplemented("No calibration pose specified.")
def type(cls) -> Any:
"""Returns python type."""
raise Arcor2NotImplemented()
def inverse_kinematics(self, pose: Pose) -> List[Joint]:
raise Arcor2NotImplemented()
def set_hand_teaching_mode(self, enabled: bool) -> None:
raise Arcor2NotImplemented("The robot does not support hand teaching.")
def get_hand_teaching_mode(self) -> bool:
"""
This is expected to be implemented if the robot supports set_hand_teaching_mode
:return:
"""
raise Arcor2NotImplemented()
def stop(self) -> None:
raise Arcor2NotImplemented("The robot can't be stopped.")
def parameter_ast(cls, type_defs: TypesDict, scene: CScene,
project: CProject, action_id: str,
parameter_id: str) -> stmt:
raise Arcor2NotImplemented(
"It does not make much sense to have image as literal.")
def forward_kinematics(self, joints: List[Joint]) -> Pose:
raise Arcor2NotImplemented()
def get_hand_teaching_mode(self, arm_id: Optional[str] = None) -> bool:
"""
This is expected to be implemented if the robot supports set_hand_teaching_mode
:return:
"""
raise Arcor2NotImplemented()
def get_end_effector_pose(self, end_effector: str) -> Pose:
raise Arcor2NotImplemented("Not supported")
def set_hand_teaching_mode(self,
enabled: bool,
arm_id: Optional[str] = None) -> None:
raise Arcor2NotImplemented()
def color_image(self, *, an: Optional[str] = None) -> Image.Image:
raise Arcor2NotImplemented()
def set_hand_teaching_mode(self, enabled: bool) -> None:
raise Arcor2NotImplemented()
