MoveCommand

class pyniryo_nate.components.MoveCommand(robot: Robot, command_id: str, timeout: float, callbacks: List[Callable[[MoveFeedback], None]])

Bases: BaseCommand

Represents a move command and tracks its execution progress.

This class monitors the state of a robot movement operation, receiving feedback through MQTT and allowing you to wait for completion.

Attributes

command_id	Get the command ID of the command.
state	Get the current state of the move command.

Methods

pause
resume
stop
wait	Wait for the move command to complete.

Parameters:

• robot (Robot)

• command_id (str)

• timeout (float)

• callbacks (List[Callable[[MoveFeedback], None]])

property state: MoveState

Get the current state of the move command.

Returns:

The current state of the move command.

wait() → None

Wait for the move command to complete. A timeout of zero or less waits indefinitely. The timeout counts from the moment the command was sent. A paused move keeps waiting until it is resumed.

Raises:

• TimeoutError – If the timeout is exceeded.

• PyNiryoError – If the execution fails.

Return type:

None

pause() → None

Return type:

None

resume() → None

Return type:

None

stop() → None

Return type:

None