def goOffPose(self):
returnvalue = self.stub.goOffPose(nxtmsg.Empty()).value
if returnvalue == nxtmsg.Status.ERROR:
print("Something went wrong with the server!! Try again!")
raise Exception()
else:
print("The robot is moved to the off pose.")
def servoOff(self):
returnvalue = self.stub.servoOff(nxtmsg.Empty()).value
if returnvalue == nxtmsg.Status.ERROR:
print("Something went wrong with the server!! Try again!")
raise Exception()
else:
print("Servos are turned off.")
def ejectHandToolLft(self):
returnvalue = self.stub.ejectHandToolLft(nxtmsg.Empty()).value
if returnvalue == nxtmsg.Status.ERROR:
print("Something went wrong with the server!! Try again!")
raise Exception()
else:
print("The robot has ejected its left handtool.")
def checkEncoders(self):
returnvalue = self.stub.checkEncoders(nxtmsg.Empty()).value
if returnvalue == nxtmsg.Status.ERROR:
print("Something went wrong with the server!! Try again!")
raise Exception()
else:
print("Encoders succesfully checked.")
def attachHandToolRgt(self):
returnvalue = self.stub.attachHandToolRgt(nxtmsg.Empty()).value
if returnvalue == nxtmsg.Status.ERROR:
print("Something went wrong with the server!! Try again!")
raise Exception()
else:
print("The robot has attached its right handtool.")
def getJointAngles(self):
if self.__oldyaml:
jntangles = yaml.load(self.stub.getJointAngles(nxtmsg.Empty()).data)
else:
jntangles = yaml.load(self.stub.getJointAngles(nxtmsg.Empty()).data, Loader=yaml.UnsafeLoader)
return jntangles