def change_wrist(body):
"""
Set wrist location
:param body: Location object
:type body: dict | bytes
:rtype: Location
"""
if connexion.request.is_json:
body = Location.from_dict(connexion.request.get_json())
location = body.location
AX12.wrist(location)
return Location(location)
def change_wrist_torque(body):
"""
Set wrist torque
:param body: Sate object
:type body: dict | bytes
:rtype: State
"""
if connexion.request.is_json:
body = State.from_dict(connexion.request.get_json())
state = body.state
AX12.set_wrist_state(state)
return State(state)
def read_wrist():
"""
Get wrist location
:rtype: Location
"""
location = AX12.get_wrist()
return Location(location)
def read_grip():
"""
Get grip location
:rtype: Location
"""
location = AX12.get_grip()
return Location(location)
def read_pivot():
"""
Get pivot location
:rtype: Location
"""
location = AX12.get_pivot()
return Location(location)
def read_elbow():
"""
Get elbow location
:rtype: Location
"""
location = AX12.get_elbow()
return Location(location)
def read_shoulder():
"""
Get shoulder location
:rtype: Location
"""
location = AX12.get_shoulder()
return Location(location)
def read_hand():
"""
Get hand location
:rtype: Location
"""
location = AX12.get_hand()
return Location(location)