def METHOD_NAME(self, cmd_name, args=None):
    if cmd_name in ["home"]:
        self._do_home()
    if cmd_name in ["defreeze"]:
        self._do_defreeze_gripper()
    if cmd_name in ["reset_sample_number"]:
        self._do_reset_sample_number()
    if cmd_name == "change_gripper":
        self._do_change_gripper(int(args))
    if cmd_name == "trash":
        self._do_trash()
    if cmd_name == "abort":
        self._do_abort()
    return True