feat: handle https, add some convenience methods #15
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mahsumdemirwb
approved these changes
Dec 20, 2024
bompo
approved these changes
Dec 20, 2024
| @@ -44,6 +44,32 @@ def current_motion(self) -> str: | |||
| # raise ValueError("No MotionId attached. There is no planned motion available.") | |||
| return self._current_motion | |||
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| async def plan(self, actions: list[Action], tcp: str) -> wb.models.JointTrajectory: | |||
| current_joints = await self.joints(tcp=tcp) | |||
| robot_setup = await self._get_optimizer_setup(tcp=tcp) | |||
nova/core/motion_group.py
Outdated
| @@ -176,3 +162,36 @@ async def stop(self): | |||
| logger.debug(f"Motion {self.current_motion} stopped.") | |||
| except ValueError as e: | |||
| logger.debug(f"No motion to stop for {self}: {e}") | |||
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| async def get_state(self, tcp: str | None) -> wb.models.MotionGroupStateResponse: | |||
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Is there also the option for a state fetching via websocket?
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tcps()andtcp_names()methodcontrollers()methodget_state()optional -> returns flange pose