Source code for niryo_robot_python_ros_wrapper.ros_wrapper_enums

from enum import Enum, unique


[docs]class ShiftPose: def __init__(self): pass AXIS_X = 0 AXIS_Y = 1 AXIS_Z = 2 ROT_ROLL = 3 ROT_PITCH = 4 ROT_YAW = 5
[docs]class ToolID: """ Tools IDs (need to match tools ids in niryo_robot_tools package) """ def __init__(self): pass NONE = 0 # CALIBRATION_TIP = 1 GRIPPER_1 = 11 GRIPPER_2 = 12 GRIPPER_3 = 13 GRIPPER_4 = 14 ELECTROMAGNET_1 = 30 VACUUM_PUMP_1 = 31
[docs]class PinMode: """ Pin Mode is either OUTPUT or INPUT """ def __init__(self): pass OUTPUT = 0 INPUT = 1
[docs]class PinState: """ Pin State is either LOW or HIGH """ def __init__(self): pass LOW = 0 HIGH = 1
[docs]class PinID: """ Pins ID """ def __init__(self): pass GPIO_1A = 2 GPIO_1B = 3 GPIO_1C = 16 GPIO_2A = 26 GPIO_2B = 19 GPIO_2C = 6 SW_1 = 12 SW_2 = 13
# - Conveyor
[docs]class ConveyorID: def __init__(self): pass NONE = 0 ID_1 = 12 ID_2 = 13
[docs]class ConveyorDirection: def __init__(self): pass FORWARD = 1 BACKWARD = -1
# - Vision
[docs]class ObjectColor: def __init__(self): pass RED = "RED" GREEN = "GREEN" BLUE = "BLUE" ANY = "ANY"
[docs]class ObjectShape: def __init__(self): pass CIRCLE = "CIRCLE" SQUARE = "SQUARE" ANY = "ANY"
[docs]@unique class CommandEnum(Enum): """ Enumeration of all commands used """ # Main purpose CALIBRATE = 0 SET_LEARNING_MODE = 1 GET_LEARNING_MODE = 2 SET_ARM_MAX_VELOCITY = 3 SET_JOG_CONTROL = 4 # - Move # Pose GET_JOINTS = 10 GET_POSE = 11 GET_POSE_QUAT = 12 MOVE_JOINTS = 20 MOVE_POSE = 21 SHIFT_POSE = 22 MOVE_LINEAR_POSE = 23 SHIFT_LINEAR_POSE = 24 JOG_JOINTS = 25 JOG_POSE = 26 FORWARD_KINEMATICS = 27 INVERSE_KINEMATICS = 28 # Saved Pose GET_POSE_SAVED = 50 SAVE_POSE = 51 DELETE_POSE = 52 GET_SAVED_POSE_LIST = 53 # Pick & Place PICK_FROM_POSE = 60 PLACE_FROM_POSE = 61 PICK_AND_PLACE = 62 # Trajectories GET_TRAJECTORY_SAVED = 80 EXECUTE_TRAJECTORY_FROM_POSES = 81 EXECUTE_TRAJECTORY_SAVED = 82 SAVE_TRAJECTORY = 83 DELETE_TRAJECTORY = 84 GET_SAVED_TRAJECTORY_LIST = 85 # - Tools UPDATE_TOOL = 120 OPEN_GRIPPER = 121 CLOSE_GRIPPER = 122 PULL_AIR_VACUUM_PUMP = 123 PUSH_AIR_VACUUM_PUMP = 124 SETUP_ELECTROMAGNET = 125 ACTIVATE_ELECTROMAGNET = 126 DEACTIVATE_ELECTROMAGNET = 127 GET_CURRENT_TOOL_ID = 128 GRASP_WITH_TOOL = 129 RELEASE_WITH_TOOL = 130 # - Hardware SET_PIN_MODE = 150 DIGITAL_WRITE = 151 DIGITAL_READ = 152 GET_DIGITAL_IO_STATE = 153 GET_HARDWARE_STATUS = 154 # - Conveyor SET_CONVEYOR = 180 UNSET_CONVEYOR = 181 CONTROL_CONVEYOR = 182 GET_CONNECTED_CONVEYORS_ID = 183 # - Vision GET_IMAGE_COMPRESSED = 200 GET_TARGET_POSE_FROM_REL = 201 GET_TARGET_POSE_FROM_CAM = 202 VISION_PICK = 203 MOVE_TO_OBJECT = 205 DETECT_OBJECT = 204 GET_CAMERA_INTRINSICS = 210 SAVE_WORKSPACE_FROM_POSES = 220 SAVE_WORKSPACE_FROM_POINTS = 221 DELETE_WORKSPACE = 222 GET_WORKSPACE_RATIO = 223 GET_WORKSPACE_LIST = 224