:return:
"""
place_pose.position.z += vertical_offset
self.move(place_pose, MoveType.JOINTS) # pre-place pose
place_pose.position.z -= vertical_offset
self.move(place_pose, MoveType.JOINTS) # place pose
self.release()
place_pose.position.z += vertical_offset
self.move(place_pose, MoveType.JOINTS) # pre-place pose
def robot_joints(self) -> List[Joint]:
return rest.call(rest.Method.GET,
f"{self.settings.url}/joints",
list_return_type=Joint)
home.__action__ = ActionMetadata(blocking=True) # type: ignore
move.__action__ = ActionMetadata(blocking=True) # type: ignore
suck.__action__ = ActionMetadata(blocking=True) # type: ignore
release.__action__ = ActionMetadata(blocking=True) # type: ignore
pick.__action__ = ActionMetadata(blocking=True,
composite=True) # type: ignore
place.__action__ = ActionMetadata(blocking=True,
composite=True) # type: ignore
AbstractDobot.DYNAMIC_PARAMS = {
"end_effector_id": DPT(AbstractDobot.get_end_effectors_ids.__name__,
set()),
}
an: Optional[str] = None) -> bool:
return rest.call(rest.Method.GET,
f"{self.settings.url}/suctions/{suction_id}/attached",
return_type=bool)
move.__action__ = ActionMetadata(blocking=True) # type: ignore
move_relative.__action__ = ActionMetadata(blocking=True) # type: ignore
move_relative_joints.__action__ = ActionMetadata(
blocking=True) # type: ignore
suck.__action__ = ActionMetadata(blocking=True) # type: ignore
release.__action__ = ActionMetadata(blocking=True) # type: ignore
is_item_attached.__action__ = ActionMetadata(blocking=True) # type: ignore
Aubo.DYNAMIC_PARAMS = {
"end_effector_id": DPT(Aubo.get_end_effectors_ids.__name__, set()),
"gripper_id": DPT(Aubo.grippers.__name__, set()),
"suction_id": DPT(Aubo.suctions.__name__, set()),
"input_id": DPT(Aubo.inputs.__name__, set()),
"output_id": DPT(Aubo.outputs.__name__, set()),
}
Aubo.CANCEL_MAPPING.update({
Aubo.move.__name__:
Aubo.stop.__name__,
Aubo.move_relative.__name__:
Aubo.stop.__name__,
Aubo.move_relative_joints.__name__:
Aubo.stop.__name__,
})