boolean executeCommand(MCPMsg msg)
	{
		if (msg == null){
			LOG.warning("executeCommand() - msg is null.");
			return (false);
		}
		
		switch (msg.getCommandType())
		{
			case setInAFoldedPosition: 	commandsManager.setInAFoldedPosition(); break;
			case gripperClose:			commandsManager.gripperClose(); 		break;
			case gripperOpen:			commandsManager.gripperOpen(); 			break;
			case gripperMoveUp:			commandsManager.gripperMoveUp(); 		break;
			case gripperMoveDown:		commandsManager.gripperMoveDown();		break;
			case gripperMoveRight:		commandsManager.gripperMoveRight();		break;
			case gripperMoveLeft:		commandsManager.gripperMoveLeft();		break;
			case gripperRotateRight:	commandsManager.gripperRotateRight();	break;
			case gripperRotateLeft:		commandsManager.gripperRotateLeft();	break;
			case armRotateLeft:			commandsManager.armRotateLeft();		break;
			case armRotateRight:		commandsManager.armRotateRight();		break;
			case armUp:					commandsManager.armUp();				break;
			case armDown:				commandsManager.armDown();				break;
			case turnCameraOn:			commandsManager.turnCameraOn();			break;
			case turnCameraOff:			commandsManager.turnCameraOff();		break;
			case ZoomIn:				commandsManager.ZoomIn();				break;
			case ZoomOut:				commandsManager.ZoomOut();				break;
			case snap:					commandsManager.setInAFoldedPosition();	break;
			case armUp_angle:			commandsManager.armUp(
										((MCPMsgWithParams)msg).getParam1()); 	break;
			case armDown_angle:			commandsManager.armDown(
										((MCPMsgWithParams) msg).getParam1());	break;
			case gripperRotateRight_byAngle:
										commandsManager.gripperRotateRight(
										((MCPMsgWithParams) msg).getParam1());	break;
			case gripperRotateLeft_byAngle:
										commandsManager.gripperRotateLeft(
										((MCPMsgWithParams) msg).getParam1());	break;
			case armRotateRight_byAngle:
										commandsManager.armRotateRight(
										((MCPMsgWithParams) msg).getParam1());	break;
			case armRotateLeft_byAngle:
										commandsManager.armRotateLeft(
										((MCPMsgWithParams) msg).getParam1());	break;
			case playMidiBuffer:
										commandsManager.playMidiBuffer(
										((MCPMsgWithBuffer) msg).getBuffer()); 	break;
			default: break;
		}
		
		return true;
	}