Python ROS Wrapper API documentation

This document presents the different Functions, Classes & Enums available with the ROS wrapper API.

Main class 

class niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper(collision_policy=CollisionPolicy.HARD)

Bases: AbstractNiryoRosWrapper

activate_electromagnet(pin_id)

Activates electromagnet associated to electromagnet_id on pin_id

Parameters:: pin_id (PinID) – Pin ID
Returns:: status, message
Return type:: (int, str)

analog_read(pin_id)

Reads pin number pin_id and returns its state

Parameters:: pin_id (Union[ PinID, str]) – The name of the pin
Returns:: pin voltage
Return type:: float

analog_write(pin_id, analog_state)

Sets pin_id state to pin_state

Parameters:

pin_id (Union[ PinID, str]) – The name of the pin
analog_state (float) –

Returns:

status, message

Return type:

(int, str)

break_point()

calibrate_auto()

Calls service to calibrate motors then waits for its end. If failed, raises NiryoRosWrapperException

Returns:: status, message
Return type:: (int, str)

calibrate_manual()

Calls service to calibrate motors then waits for its end. If failed, raises NiryoRosWrapperException

Returns:: status, message
Return type:: (int, str)

clean_trajectory_memory()

Sends delete all trajectory command to the trajectory manager service

Returns:: status, message
Return type:: (int, str)

clear_collision_detected()

close_gripper(speed=500, max_torque_percentage=100, hold_torque_percentage=50)

Closes gripper with a speed ‘speed’

Parameters:

speed (int) – Default -> 500
max_torque_percentage (int) – Default -> 100
hold_torque_percentage (int) – Default -> 20

Returns:

status, message

Return type:

(int, str)

property collision_detected

compute_trajectory(robot_positions: List[JointsPosition | Pose], dist_smoothing=0.0)

Generate a trajectory from a list of poses and joints. :param robot_positions: a list of poses and / or joints :type robot_positions: list[RobotPosition] :param dist_smoothing: Distance from waypoints before smoothing trajectory :type dist_smoothing: float

Returns:: a trajectory
Return type:: JointTrajectory

compute_trajectory_from_poses(list_poses_raw, dist_smoothing=0.0)

Deprecated since version 5.5.0: You should use compute_trajectory() with Pose objects.

Generate a trajectory from a list of robot positions. :param list_poses_raw: a list of poses :type list_poses_raw: list[list[float]] :param dist_smoothing: Distance from waypoints before smoothing trajectory :type dist_smoothing: float

Returns:: a trajectory
Return type:: JointTrajectory

compute_trajectory_from_poses_and_joints(list_pose_joints, list_type=None, dist_smoothing=0.0)

Deprecated since version 5.5.0: You should use compute_trajectory() with JointsPosition and Pose objects.

Generate a trajectory from a list of poses and joints. :param list_pose_joints: a list of poses and / or joints :type list_pose_joints: list[list[float]] :param list_type: a list indicating if the corresponding element is a pose or joints :type list_type: list[str] :param dist_smoothing: Distance from waypoints before smoothing trajectory :type dist_smoothing: float

Returns:: a trajectory
Return type:: JointTrajectory

control_conveyor(conveyor_id, bool_control_on, speed, direction)

Controls conveyor associated to conveyor_id. Then stops it if bool_control_on is False, else refreshes it speed and direction

Parameters:

conveyor_id (ConveyorID) – ConveyorID.ID_1 or ConveyorID.ID_2
bool_control_on (bool) – True for activate, False for deactivate
speed (int) – target speed
direction (ConveyorDirection) – Target direction

Returns:

status, message

Return type:

(int, str)

control_video_stream(stream_on): Control if the video stream should be activated or not :param stream_on: if True, activate the video stream. Deactivate it otherwise :return: None

property custom_button

Manages the custom button

Example:

from niryo_robot_python_ros_wrapper.ros_wrapper import *
import rospy

rospy.init_node('ros_wrapper_node')
robot = NiryoRosWrapper()
print(robot.custom_button.state)

Returns:: CustomButtonRosWrapper API instance
Return type:: CustomButtonRosWrapper

property database

deactivate_electromagnet(pin_id)

Deactivates electromagnet associated to electromagnet_id on pin_id

Parameters:: pin_id (PinID) – Pin ID
Returns:: status, message
Return type:: (int, str)

delete_dynamic_frame(frame_name, belong_to_workspace=False)

Delete a dynamic frame

Parameters:

frame_name (str) – name of the frame to remove
belong_to_workspace (boolean) – indicate if the frame belong to a workspace

Returns:

status, message

Return type:

(int, str)

delete_pose(name)

Sends delete command to the pose manager service

Parameters:: name (str) –
Returns:: status, message
Return type:: (int, str)

delete_trajectory(trajectory_name)

Sends delete command to the trajectory manager service

Parameters:: trajectory_name (str) – name
Returns:: status, message
Return type:: (int, str)

delete_workspace(name)

Calls workspace manager to delete a certain workspace

Parameters:: name (str) – workspace name
Returns:: status, message
Return type:: (int, str)

detect_object(workspace_name, shape, color)

Parameters:

workspace_name (str) – name of the workspace
shape (ObjectShape) – shape of the target
color (ObjectColor) – color of the target

Returns:

object_found, object_pose, object_shape, object_color

Return type:

(bool, ObjectPose, str, str)

digital_read(pin_id)

Reads pin number pin_id and returns its state

Parameters:: pin_id (Union[ PinID, str]) – The name of the pin
Returns:: state
Return type:: PinState

digital_write(pin_id, digital_state)

Sets pin_id state to pin_state

Parameters:

pin_id (Union[ PinID, str]) – The name of the pin
digital_state (Union[ PinState, bool]) –

Returns:

status, message

Return type:

(int, str)

edit_dynamic_frame(frame_name, new_frame_name, new_description)

Modify a dynamic frame

Parameters:

frame_name (str) – name of the frame
new_frame_name (str) – new name of the frame
new_description (str) – new description of the frame

Returns:

status, message

Return type:

(int, str)

enable_tcp(enable=True)

Enables or disables the TCP function (Tool Center Point). If activation is requested, the last recorded TCP value will be applied. The default value depends on the gripper equipped. If deactivation is requested, the TCP will be coincident with the tool_link

Parameters:: enable (bool) – True to enable, False otherwise.
Returns:: status, message
Return type:: (int, str)

execute_moveit_robot_trajectory(moveit_robot_trajectory)

execute_registered_trajectory(trajectory_name: str)

Sends execution command to the trajectory manager service

Parameters:: trajectory_name (str) – name
Returns:: status, message
Return type:: (int, str)

execute_trajectory(robot_positions: List[JointsPosition | Pose], dist_smoothing=0.0)

Executes trajectory from list of poses and joints

Parameters:

robot_positions (list[RobotPosition]) – List of poses and / or joints
dist_smoothing (float) – Distance from waypoints before smoothing trajectory

Returns:

status, message

Return type:

(int, str)

execute_trajectory_from_poses(list_poses_raw: List[List[float] | Pose], dist_smoothing=0.0)

Deprecated since version 5.5.0: You should use execute_trajectory() with Pose objects.

Executes trajectory from a list of pose

Parameters:

list_poses_raw (List[Union[List[float], Pose]]) – list of [x, y, z, qx, qy, qz, qw] or list of [x, y, z, roll, pitch, yaw]
dist_smoothing (float) – Distance from waypoints before smoothing trajectory

Returns:

status, message

Return type:

(int, str)

execute_trajectory_from_poses_and_joints(list_pose_joints, list_type=None, dist_smoothing=0.0)

Deprecated since version 5.5.0: You should use execute_trajectory() with JointsPosition and Pose objects.

Executes trajectory from list of poses and joints

Parameters:

list_pose_joints (list[list[float]]) – List of [x,y,z,qx,qy,qz,qw] or list of [x,y,z,roll,pitch,yaw] or a list of [j1,j2,j3,j4,j5,j6]
list_type (list[string]) – List of string ‘pose’ or ‘joint’, or [‘pose’] (if poses only) or [‘joint’] (if joints only). If None, it is assumed there are only poses in the list.
dist_smoothing (float) – Distance from waypoints before smoothing trajectory

Returns:

status, message

Return type:

(int, str)

forward_kinematics(j1: float, j2: float, j3: float, j4: float, j5: float, j6: float) → Pose

forward_kinematics(joints_position: JointsPosition) → Pose

Deprecated since version 5.5.0: You should use forward_kinematics_v2().

Computes the forward kinematics given joint positions. The end effector pose is given for an end effector frame following the right hand rule and with the x axis pointing forward.

This function is overloaded to accept multiple forms of input:

Parameters:

args (tuple) – Variable-length positional arguments. This can be either individual joint angles (j1, j2, j3, j4, j5, j6) or a single JointsPosition object.
kwargs (dict) – Arbitrary keyword arguments.

Returns:

The pose of the end effector in the robot’s workspace.

Return type:

Pose

forward_kinematics_v2(joints_position: JointsPosition) → Pose

Computes the forward kinematics given joint positions. The end effector pose is given for an end effector frame following the right hand rule and with the z axis pointing forward.

This function is overloaded to accept multiple forms of input:

Parameters:: joints_position (JointsPosition) – the joints position to be used for the forward kinematics computation
Returns:: The pose of the end effector in the robot’s workspace.
Return type:: Pose

get_analog_io_state()

get_available_disk_size(): Get the RPI available space on the SD card :return: the number of MegaBytes available :rtype: int

static get_axis_limits()

Returns the joints and positions min and max values

Returns:: An object containing all the values
Return type:: dict

get_camera_intrinsics()

Gets calibration object: camera intrinsics, distortions coefficients

Returns:: raw camera intrinsics, distortions coefficients
Return type:: (list, list)

get_compressed_image(with_seq=False)

Gets last stream image in a compressed format

Returns:: string containing a JPEG compressed image
Return type:: str

get_conveyors_feedback()

Gives conveyors feedback

Returns:: for each conveyor, its id, connection_state, running, speed and direction
Return type:: list[dict] with the following keys: conveyor_id: ConveyorID, connection_state: bool, speed: int, direction: ConveyorDirection

get_conveyors_number()

get_current_tool_id()

Uses /niryo_robot_tools_commander/current_id topic to get current tool id

Returns:: Tool Id
Return type:: Union[ToolID, int]

get_current_tool_state(): Return the hardware state of the tool :return: the hardware state :rtype: int

get_debug_colors(color)

get_debug_markers()

get_digital_io_mode(pin_id)

Get a digital IO mode

Parameters:: pin_id (str) – the pin id of a digital io
Returns:: The mode of the digital io (Input or Output)
Return type:: PinMode

get_digital_io_state()

Gets Digital IO state : Names, modes, states

Returns:: Infos contains in a IOsState object (see niryo_robot_msgs)
Return type:: IOsState

get_hardware_status()

Gets hardware status : Temperature, Hardware version, motors names & types …

Returns:: Infos contains in a HardwareStatus object (see niryo_robot_msgs)
Return type:: HardwareStatus

get_hardware_version(): Gets the robot hardware version

static get_image_parameters()

Gets last stream image parameters: Brightness factor, Contrast factor, Saturation factor.

Brightness factor: How much to adjust the brightness. 0.5 will give a darkened image, 1 will give the original image while 2 will enhance the brightness by a factor of 2.

Contrast factor: While a factor of 1 gives original image. Making the factor towards 0 makes the image greyer, while factor>1 increases the contrast of the image.

Saturation factor: 0 will give a black and white image, 1 will give the original image while 2 will enhance the saturation by a factor of 2.

Returns:: Brightness factor, Contrast factor, Saturation factor
Return type:: float, float, float

get_joint_names()

Uses /joint_states topic to get the name of the joints

Returns:: list of the name of the joints
Return type:: list[string]

get_joints()

Uses /joint_states topic to get joints status

Returns:: A JointsPosition object containing the joints values
Return type:: JointsPosition

get_learning_mode()

Uses /niryo_robot/learning_mode/state topic subscriber to get learning mode status

Returns:: True if activate else False
Return type:: bool

get_max_velocity_scaling_factor(): Gets the max velocity scaling factor :return: max velocity scaling factor :rtype: Int32

get_pose()

Deprecated since version 5.5.0: You should use get_pose_v2().

Return the legacy pose of the robot (i.e the legacy TCP orientation) Uses /niryo_robot/robot_state topic to get pose status

Returns:: RobotState object (position.x/y/z && rpy.roll/pitch/yaw && orientation.x/y/z/w)
Return type:: RobotState

get_pose_as_list()

Deprecated since version 5.5.0: You should use get_pose_v2_as_list().

Return the legacy pose of the robot (i.e the legacy TCP orientation) as a list Uses /niryo_robot/robot_state topic to get pose status

Returns:: list corresponding to [x, y, z, roll, pitch, yaw]
Return type:: list[float]

get_pose_saved(pose_name: str) → Pose

Gets saved pose from robot intern storage Will raise error if position does not exist

Parameters:: pose_name (str) – Pose Name
Returns:: x, y, z, roll, pitch, yaw
Return type:: Pose

get_pose_v2()

Return the pose of the robot (i.e the legacy TCP orientation) Uses /niryo_robot/robot_state_v2 topic to get pose status

Returns:: RobotState object (position.x/y/z && rpy.roll/pitch/yaw && orientation.x/y/z/w)
Return type:: RobotState

get_pose_v2_as_list()

Return the pose of the robot (i.e the legacy TCP orientation) as a list Uses /niryo_robot/robot_state_v2 topic to get pose status

Returns:: list corresponding to [x, y, z, roll, pitch, yaw]
Return type:: list[float]

static get_robot_status()

get_ros_logs_size(): Get the ros logs size on the SD card :return: the size of the ros logs in MB :rtype: int

get_saved_dynamic_frame(frame_name)

Get name, description and pose of a dynamic frame

Parameters:: frame_name (str) – name of the frame
Returns:: name, description, position and orientation of a frame
Return type:: list[str, str, list[float]]

static get_saved_dynamic_frame_list()

Get list of saved dynamic frames

Returns:: list of dynamic frames name, list of description of dynamic frames
Return type:: list[str], list[str]

static get_saved_pose_list(with_desc=False)

Asks the pose manager service which positions are available

Parameters:: with_desc (bool) – If True it returns the poses descriptions
Returns:: list of positions name
Return type:: list[str]

static get_saved_trajectory_list() → List[str]

Asks the pose trajectory service which trajectories are available

Returns:: list of trajectory name
Return type:: list[str]

get_simulation_mode(): The simulation mode

get_sleep_pose() → JointsPosition

Get current robot’s home position

Returns:: the sleep pose
Return type:: JointsPosition

get_software_version()

Get the robot software version

Returns:: rpi_image_version, ros_niryo_robot_version, motor_names, stepper_firmware_versions
Return type:: (str, str, list[str], list[str])

get_target_pose_from_cam(workspace_name, height_offset, shape, color, as_list=False)

First detects the specified object using the camera and then returns the robot pose in which the object can be picked with the current tool

Parameters:

workspace_name (str) – name of the workspace
height_offset (float) – offset between the workspace and the target height
shape (ObjectShape) – shape of the target
color (ObjectColor) – color of the target
as_list (bool) – whether return the pose as a list or a Pose object

Returns:

object_found, object_pose, object_shape, object_color

Return type:

(bool, RobotState, str, str)

get_target_pose_from_rel(workspace_name, height_offset, x_rel, y_rel, yaw_rel, as_list=False)

Given a pose (x_rel, y_rel, yaw_rel) relative to a workspace, this function returns the robot pose in which the current tool will be able to pick an object at this pose. The height_offset argument (in m) defines how high the tool will hover over the workspace. If height_offset = 0, the tool will nearly touch the workspace.

Parameters:

workspace_name (str) – name of the workspace
height_offset (float) – offset between the workspace and the target height
x_rel (float) –
y_rel (float) –
yaw_rel (float) –
as_list (bool) – whether return the pose as a list or a Pose object

Returns:

target_pose

Return type:

RobotState

get_tcp(as_list=False): Returns the TCP state :param as_list: True to return the tcp position as a list of float :type as_list: bool :return: the tcp (enabled, position and orientation) :rtype: Tool msg object

get_trajectory_saved(trajectory_name) → List[JointsPosition]

Gets saved trajectory from robot intern storage Will raise error if position does not exist

Parameters:: trajectory_name (str) –
Raises:: NiryoRosWrapperException – If trajectory file doesn’t exist
Returns:: list of [x, y, z, qx, qy, qz, qw]
Return type:: list[list[float]]

static get_workspace_list(with_desc=False)

Asks the workspace manager service names of the available workspace

Returns:: list of workspaces name
Return type:: list[str]

get_workspace_poses(name)

Gets the 4 workspace poses of the workspace called ‘name’

Parameters:: name (str) – workspace name
Returns:: List of the 4 workspace poses
Return type:: list[list]

get_workspace_ratio(name)

Gives the length over width ratio of a certain workspace

Parameters:: name (str) – workspace name
Returns:: ratio
Return type:: float

grasp_with_tool(pin_id='')

Grasps with the tool linked to tool_id This action corresponds to - Close gripper for Grippers - Pull Air for Vacuum pump - Activate for Electromagnet

Parameters:: pin_id (PinID) – [Only required for electromagnet] Pin ID of the electromagnet
Returns:: status, message
Return type:: (int, str)

highlight_block(block_id)

classmethod init_with_node(*args, **kwargs): Initialize a ros node before returning a new instance of the class

inverse_kinematics(x: float, y: float, z: float, roll: float, pitch: float, yaw: float) → JointsPosition

inverse_kinematics(pose: Pose) → JointsPosition

Deprecated since version 5.6.0: You should use inverse_kinematics_v2().

Computes the inverse kinematics given a pose.

This function is overloaded to accept multiple forms of input:

Parameters:

args (tuple) – Variable-length positional arguments. This can be either individual pose components (x, y, z, roll, pitch, yaw) or a single Pose object.
kwargs (dict) – Arbitrary keyword arguments.

Returns:

The joint position of the robot.

Return type:

JointsPosition

inverse_kinematics_v2(pose: Pose) → JointsPosition

Computes the inverse kinematics given a pose.

This function is overloaded to accept multiple forms of input:

Parameters:

pose – Variable-length positional arguments. This can be either individual pose components (x, y, z, roll, pitch, yaw) or a single Pose object.
kwargs (dict) – Arbitrary keyword arguments.

Returns:

The joint position of the robot.

Return type:

JointsPosition

jog_joints_shift(shift_values)

Deprecated since version 5.5.0: You should use jog_shift() with a JointsPosition object.

Makes a Jog on joints position

Parameters:: shift_values (list[float]) – list corresponding to the shift to be applied to each joint
Returns:: status, message
Return type:: (int, str)

jog_pose_shift(shift_values)

Deprecated since version 5.5.0: You should use jog_shift() with a Pose object.

Makes a Jog on end-effector position

Parameters:: shift_values (list[float]) – list corresponding to the shift to be applied to the position
Returns:: status, message
Return type:: (int, str)

jog_shift(shift_values: JointsPosition | Pose)

Makes a Jog oof the robot position

Parameters:: shift_values (RobotPosition) – robot position corresponding to the shift to be applied to the current position
Returns:: status, message
Return type:: (int, str)

property led_ring

Manages the LED ring

Example:

from niryo_robot_python_ros_wrapper.ros_wrapper import *
import rospy

rospy.init_node('ros_wrapper_node')
robot = NiryoRosWrapper()
robot.led_ring.solid(color=[255, 255, 255])

Returns:: LedRingRosWrapper API instance
Return type:: LedRingRosWrapper

move(robot_position: Pose, move_cmd: int = ArmMoveCommand.POSE)

move(robot_position: JointsPosition, move_cmd: int = ArmMoveCommand.JOINTS)

Moves the robot end effector to the given goal position. The goal position can be either a joint position or a pose

Parameters:

robot_position (Union[Pose, JointsPosition]) – Position of the goal position
move_cmd – Command used to move the robot. If not provided, the command will be the basic move (either

joint or pose depending on the robot_position type) :type move_cmd: int :return: status, message :rtype: (int, str)

move_circle(x, y, z)

move_joints(j1, j2, j3, j4, j5, j6)

Deprecated since version 5.5.0: You should use move() with a JointsPosition object.

Executes Move joints action

Parameters:

j1 (float) –
j2 (float) –
j3 (float) –
j4 (float) –
j5 (float) –
j6 (float) –

Returns:

status, message

Return type:

(int, str)

move_linear_pose(x, y, z, roll, pitch, yaw, frame='')

Deprecated since version 5.5.0: You should use move() with a Pose object and move_cmd=ArmMoveCommand.LINEAR_POSE

Moves robot end effector pose to a (x, y, z, roll, pitch, yaw) pose, with a linear trajectory, in a particular frame if defined

Parameters:

x (float) –
y (float) –
z (float) –
roll (float) –
pitch (float) –
yaw (float) –
frame (str) –

Returns:

status, message

Return type:

(int, str)

move_linear_relative(offset, frame='world')

Deprecated since version 5.5.0: You should use move with a frame in the pose metadata and linear=True.

Move robot end of an offset by a linear movement in a frame

Parameters:

offset (list[float]) – list which contains offset of x, y, z, roll, pitch, yaw
frame (str) – name of local frame

Returns:

status, message

Return type:

(int, str)

move_pose(x, y, z, roll, pitch, yaw, frame='')

Deprecated since version 5.5.0: You should use move() with a Pose object.

Moves robot end effector pose to a (x, y, z, roll, pitch, yaw) pose, in a particular frame if defined

Parameters:

x (float) –
y (float) –
z (float) –
roll (float) –
pitch (float) –
yaw (float) –
frame (str) –

Returns:

status, message

Return type:

(int, str)

move_pose_saved(pose_name)

Moves robot end effector pose to a pose saved

Parameters:: pose_name (str) –
Returns:: status, message
Return type:: (int, str)

move_relative(offset, frame='world')

Deprecated since version 5.5.0: You should use move with a frame in the pose metadata.

Move robot end of an offset in a frame

Parameters:

offset (list[float]) – list which contains offset of x, y, z, roll, pitch, yaw
frame (str) – name of local frame

Returns:

status, message

Return type:

(int, str)

move_spiral(radius=0.2, angle_step=5, nb_steps=72, plan=1)

Calls robot action service to draw a spiral trajectory

Parameters:

radius – maximum distance between the spiral and the starting point
angle_step – rotation between each waypoint creation
nb_steps – number of waypoints from the beginning to the end of the spiral
plan (int) – xyz plan of the spiral: 1 = yz plan, 2 = xz plan, 3 = xy plan

Returns:

status, message

Return type:

(int, str)

move_to_object(workspace, height_offset, shape, color)

Same as get_target_pose_from_cam but directly moves to this position

Parameters:

workspace (str) – name of the workspace
height_offset (float) – offset between the workspace and the target height
shape (ObjectShape) – shape of the target
color (ObjectColor) – color of the target

Returns:

object_found, object_shape, object_color

Return type:

(bool, ObjectShape, ObjectColor)

move_to_sleep_pose()

Moves the robot to a predefined home position

Returns:: status, message
Return type:: (int, str)

move_without_moveit(joints_target, duration)

static msg_from_pose(pose: ~niryo_robot_utils.dataclasses.Pose.Pose, msg_type=<class 'niryo_robot_msgs.msg._RobotState.RobotState'>, normalize=True)

Convert a Pose object to a ROS message.

Parameters:

pose (Pose) – the pose to convert
msg_type (any ROS message which has position and rpy attributes) – the type of the ROS message to create
normalize (bool) – whether to normalize the pose before converting it or not. Default is True.

Returns:

ROS message

Return type:

RobotState

open_gripper(speed=500, max_torque_percentage=100, hold_torque_percentage=20)

Opens gripper with a speed ‘speed’

Parameters:

speed (int) – Default -> 500
max_torque_percentage (int) – Default -> 100
hold_torque_percentage (int) – Default -> 20

Returns:

status, message

Return type:

(int, str)

pick(robot_position: JointsPosition | Pose)

pick_and_place(pick_pose: list, place_pose: list, dist_smoothing=0.0)

pick_and_place(pick_pose: JointsPosition | Pose, place_pose: JointsPosition | Pose, dist_smoothing=0.0)

Executes a pick and place. If an error happens during the movement, error will be raised -> Args param is for development purposes

Parameters:

pick_pose (list[float]) –
place_pose (list[float]) –
dist_smoothing (float) – Distance from waypoints before smoothing trajectory

Returns:

status, message

Return type:

(int, str)

pick_from_pose(x, y, z, roll, pitch, yaw)

Deprecated since version 5.5.0: You should use pick() with a Pose or JointsPosition object instead

Executes a picking from a position. If an error happens during the movement, error will be raised A picking is described as : - going over the object - going down until height = z - grasping with tool - going back over the object

Parameters:

x (float) –
y (float) –
z (float) –
roll (float) –
pitch (float) –
yaw (float) –

Returns:

status, message

Return type:

(int, str)

place(robot_position: JointsPosition | Pose)

place_from_pose(x, y, z, roll, pitch, yaw)

Deprecated since version 5.5.0: You should use place() with a Pose or JointsPosition object instead

Executes a placing from a position. If an error happens during the movement, error will be raised A placing is described as : - going over the place - going down until height = z - releasing the object with tool - going back over the place

Parameters:

x (float) –
y (float) –
z (float) –
roll (float) –
pitch (float) –
yaw (float) –

Returns:

status, message

Return type:

(int, str)

static point_to_list(point)

static pose_from_msg(msg) → Pose

pull_air_vacuum_pump()

Pulls air

Returns:: status, message
Return type:: (int, str)

push_air_vacuum_pump()

Pulls air

Returns:: status, message
Return type:: (int, str)

static quaternion_to_list(quaternion)

reboot_motors()

Reboots the robots motors

Raises:: NiryoRosWrapperException –
Returns:: status, message
Return type:: (int, str)

release_with_tool(pin_id='')

Releases with the tool associated to tool_id This action corresponds to - Open gripper for Grippers - Push Air for Vacuum pump - Deactivate for Electromagnet

Parameters:: pin_id (PinID) – [Only required for electromagnet] Pin ID of the electromagnet
Returns:: status, message
Return type:: (int, str)

request_new_calibration()

Calls service to set the request calibration value. If failed, raises NiryoRosWrapperException

Returns:: status, message
Return type:: (int, str)

reset_sleep_pose()

Reset robot’s home position to factory default

Returns:: status, message
Return type:: (int, str)

reset_tcp()

Resets the TCP (Tool Center Point) transformation. The TCP will be reset according to the tool equipped

Returns:: status, message
Return type:: (int, str)

property robot_status

save_dynamic_frame_from_points(frame_name, description, list_points, belong_to_workspace=False)

Create a dynamic frame with 3 points (origin, x, y)

Parameters:

frame_name (str) – name of the frame
description (str) – description of the frame
list_points (list[list[float]]) – 3 points needed to create the frame
belong_to_workspace (boolean) – indicate if the frame belong to a workspace

Returns:

status, message

Return type:

(int, str)

save_dynamic_frame_from_poses(frame_name, description, list_robot_poses: List[List[float] | Pose], belong_to_workspace=False)

Create a dynamic frame with 3 poses (origin, x, y)

Parameters:

frame_name (str) – name of the frame
description (str) – description of the frame
list_robot_poses (list[list[float]]) – 3 poses needed to create the frame
belong_to_workspace (boolean) – indicate if the frame belong to a workspace

Returns:

status, message

Return type:

(int, str)

save_last_learned_trajectory(trajectory_name, trajectory_description)

Saves trajectory object and sends it to the trajectory manager service

Parameters:

trajectory_name (str) – name which will have the trajectory
trajectory_description (str) – description which will have the trajectory

Returns:

status, message

Return type:

(int, str)

save_pose(name: str, x: float, y: float, z: float, roll: float, pitch: float, yaw: float)
save_pose(name: str, pose: Pose): Saves pose in robot’s memory

save_trajectory(trajectory_points, trajectory_name, trajectory_description)

Saves trajectory object and sends it to the trajectory manager service

Parameters:

trajectory_points (Union[List[float], JointsPosition]) – list of waypoints that constitute the trajectory
trajectory_name (str) – name which will have the trajectory
trajectory_description (str) – A short text describing the trajectory

Returns:

status, message

Return type:

(int, str)

save_workspace_from_points(name, list_points_raw)

Saves workspace by giving the poses of its 4 corners in the good order

Parameters:

name (str) – workspace name, max 30 char.
list_points_raw (list[list[float]]) – list of 4 corners [x, y, z]

Returns:

status, message

Return type:

(int, str)

save_workspace_from_poses(name, list_poses_raw: List[List[float] | Pose])

Saves workspace by giving the poses of the robot to point its 4 corners with the calibration Tip. Corners should be in the good order

Parameters:

name (str) – workspace name, max 30 char.
list_poses_raw (list[list]) – list of 4 corners pose

Returns:

status, message

Return type:

(int, str)

set_arm_max_acceleration(percentage)

Sets relative max acceleration (in %)

Parameters:: percentage (int) – Percentage of max acceleration
Returns:: status, message
Return type:: (int, str)

set_arm_max_velocity(percentage)

Sets relative max velocity (in %)

Parameters:: percentage (int) – Percentage of max velocity
Returns:: status, message
Return type:: (int, str)

set_brightness(brightness_factor)

Modifies image brightness

Parameters:: brightness_factor (float) – How much to adjust the brightness. 0.5 will give a darkened image, 1 will give the original image while 2 will enhance the brightness by a factor of 2.
Returns:: status, message
Return type:: (int, str)

set_contrast(contrast_factor)

Modifies image contrast

Parameters:: contrast_factor (float) – While a factor of 1 gives original image. Making the factor towards 0 makes the image greyer, while factor>1 increases the contrast of the image.
Returns:: status, message
Return type:: (int, str)

set_conveyor()

Scans for conveyor on can bus. If conveyor detected, returns the conveyor ID

Raises:: NiryoRosWrapperException –
Returns:: ID
Return type:: ConveyorID

set_jog_use_state(state)

Turns jog controller On or Off

Parameters:: state (bool) – True to turn on, else False
Returns:: status, message
Return type:: (int, str)

set_learning_mode(set_bool)

Calsl service to set_learning_mode according to set_bool. If failed, raises NiryoRosWrapperException

Parameters:: set_bool (bool) – True to activate, False to deactivate
Returns:: status, message
Return type:: (int, str)

set_pin_mode(pin_id, pin_mode)

Sets pin number pin_id to mode pin_mode

Parameters:

pin_id (str) –
pin_mode (int) –

Returns:

status, message

Return type:

(int, str)

set_saturation(saturation_factor)

Modifies image saturation

Parameters:: saturation_factor (float) – How much to adjust the saturation. 0 will give a black and white image, 1 will give the original image while 2 will enhance the saturation by a factor of 2.
Returns:: status, message
Return type:: (int, str)

set_sleep_pose(joints_position: JointsPosition)

Set user defined robot’s home position in the database. Raises NiryoRosWrapperException if the number of joint values does not match the robot’s joints number or if failed.

Parameters:: joints_position (JointsPosition) – joint position of the sleep pose
Returns:: status, message
Return type:: (int, str)

set_tcp(x, y, z, roll, pitch, yaw)

Activates the TCP function (Tool Center Point) and defines the transformation between the tool_link frame and the TCP frame

Parameters:

x (float) –
y (float) –
z (float) –
roll (float) –
pitch (float) –
yaw (float) –

Returns:

status, message

Return type:

(int, str)

setup_electromagnet(pin_id)

Setups electromagnet on pin

Parameters:: pin_id (PinID) – Pin ID
Returns:: status, message
Return type:: (int, str)

shift_linear_pose(axis, value)

Deprecated since version 5.5.0: You should use shift_pose() with linear=True.

Executes Shift pose action with a linear trajectory

Parameters:

axis (ShiftPose) – Value of RobotAxis enum corresponding to where the shift happens
value (float) – shift value

Returns:

status, message

Return type:

(int, str)

shift_pose(axis, value, linear=False)

Executes Shift pose action

Parameters:

axis (ShiftPose) – Value of RobotAxis enum corresponding to where the shift happens
value (float) – shift value
linear (bool) – Whether the movement has to be linear or not

Returns:

status, message

Return type:

(int, str)

property sound

Manages sound

Example:

from niryo_robot_python_ros_wrapper.ros_wrapper import *
import rospy

rospy.init_node('ros_wrapper_node')
robot = NiryoRosWrapper()
robot.sound.play(sound.sounds[0])

Returns:: SoundRosWrapper API instance
Return type:: SoundRosWrapper

stop_move()

Stops the robot movement

Returns:: list of joints value
Return type:: list[float]

tool_reboot()

Reboots the motor of the tool equipped. Useful when an Overload error occurs. (cf HardwareStatus)

Returns:: success, message
Return type:: (bool, str)

unset_conveyor(conveyor_id)

Removes specific conveyor

Parameters:: conveyor_id (ConveyorID) – Basically, ConveyorID.ID_1 or ConveyorID.ID_2
Raises:: NiryoRosWrapperException –
Returns:: status, message
Return type:: (int, str)

update_tool()

Calls service niryo_robot_tools_commander/update_tool to update tool

Returns:: status, message
Return type:: (int, str)

update_trajectory_infos(name, new_name, new_description)

vision_pick(workspace_name, height_offset, shape, color, obs_pose: JointsPosition | Pose | None = None)

Picks the specified object from the workspace. This function has multiple phases:

move to the observation pose (if specified)
detects object using the camera
prepares the current tool for picking
approaches the object
moves down to the correct picking pose
actuates the current tool
lifts the object

Parameters:

workspace_name (str) – name of the workspace
height_offset (float) – offset between the workspace and the target height
shape (ObjectShape) – shape of the target
color (ObjectColor) – color of the target
obs_pose (RobotPosition) – The observation pose

Returns:

object_found, object_shape, object_color

Return type:

(bool, ObjectShape, ObjectColor)

vision_pick_w_obs_joints(workspace_name, height_offset, shape, color, observation_joints: list | JointsPosition): Deprecated since version 5.5.0: You should use vision_pick() by setting obs_pose with a JointsPosition object.

Move Joints to observation_joints, then executes a vision pick

vision_pick_w_obs_pose(workspace_name, height_offset, shape, color, observation_pose_list: list | Pose): Deprecated since version 5.5.0: You should use vision_pick() by setting obs_pose with a Pose object.

Move Pose to observation_pose, then executes a vision pick

static wait(time_sleep)

classmethod wait_for_node_initialization(node_name, timeout=30, sleep_time=0.1)

classmethod wait_for_nodes_initialization(simulation_mode=False)

niryo_robot_python_ros_wrapper.ros_wrapper.move_command(move_function)

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.AutorunMode

Bases: object

DISABLE = 0

LOOP = 2

ONE_SHOT = 1

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.ButtonAction

Bases: object

DOUBLE_PUSH_ACTION = 3

HANDLE_HELD_ACTION = 0

LONG_PUSH_ACTION = 1

NO_ACTION = 100

SINGLE_PUSH_ACTION = 2

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.CommandEnum(value)

Bases: Enum

Enumeration of all commands used

ACTIVATE_ELECTROMAGNET = 126

ANALOG_READ = 156

ANALOG_WRITE = 155

CALIBRATE = 0

CLEAN_TRAJECTORY_MEMORY = 89

CLEAR_COLLISION_DETECTED = 6

CLOSE_GRIPPER = 122

CONTROL_CONVEYOR = 182

CUSTOM_BUTTON_STATE = 158

DEACTIVATE_ELECTROMAGNET = 127

DELETE_DYNAMIC_FRAME = 100

DELETE_POSE = 52

DELETE_SOUND = 243

DELETE_TRAJECTORY = 88

DELETE_WORKSPACE = 222

DETECT_OBJECT = 204

DIGITAL_READ = 152

DIGITAL_WRITE = 151

EDIT_DYNAMIC_FRAME = 99

ENABLE_TCP = 140

EXECUTE_REGISTERED_TRAJECTORY = 82

EXECUTE_TRAJECTORY = 90

EXECUTE_TRAJECTORY_FROM_POSES = 83

EXECUTE_TRAJECTORY_FROM_POSES_AND_JOINTS = 84

FORWARD_KINEMATICS = 27

FORWARD_KINEMATICS_V2 = 31

GET_ANALOG_IO_STATE = 157

GET_CAMERA_INTRINSICS = 210

GET_COLLISION_DETECTED = 5

GET_CONNECTED_CONVEYORS_ID = 183

GET_CONVEYORS_FEEDBACK = 184

GET_CURRENT_TOOL_ID = 128

GET_DIGITAL_IO_STATE = 153

GET_HARDWARE_STATUS = 154

GET_IMAGE_COMPRESSED = 200

GET_IMAGE_PARAMETERS = 235

GET_JOINTS = 10

GET_LEARNING_MODE = 2

GET_POSE = 11

GET_POSE_QUAT = 12

GET_POSE_SAVED = 50

GET_POSE_V2 = 13

GET_SAVED_DYNAMIC_FRAME = 96

GET_SAVED_DYNAMIC_FRAME_LIST = 95

GET_SAVED_POSE_LIST = 53

GET_SAVED_TRAJECTORY_LIST = 81

GET_SOUNDS = 245

GET_SOUND_DURATION = 246

GET_TARGET_POSE_FROM_CAM = 202

GET_TARGET_POSE_FROM_REL = 201

GET_TCP = 146

GET_TRAJECTORY_SAVED = 80

GET_WORKSPACE_LIST = 224

GET_WORKSPACE_RATIO = 223

GRASP_WITH_TOOL = 129

HANDSHAKE = 7

IMPORT_SOUND = 244

INVERSE_KINEMATICS = 28

INVERSE_KINEMATICS_V2 = 32

JOG = 30

JOG_JOINTS = 25

JOG_POSE = 26

LED_RING_ALTERNATE = 253

LED_RING_BREATH = 261

LED_RING_CHASE = 254

LED_RING_CUSTOM = 263

LED_RING_FLASH = 252

LED_RING_GO_UP = 259

LED_RING_GO_UP_DOWN = 260

LED_RING_RAINBOW = 256

LED_RING_RAINBOW_CHASE = 258

LED_RING_RAINBOW_CYCLE = 257

LED_RING_SET_LED = 264

LED_RING_SNAKE = 262

LED_RING_SOLID = 250

LED_RING_TURN_OFF = 251

LED_RING_WIPE = 255

MOVE = 29

MOVE_JOINTS = 20

MOVE_LINEAR_POSE = 23

MOVE_LINEAR_RELATIVE = 102

MOVE_POSE = 21

MOVE_RELATIVE = 101

MOVE_TO_OBJECT = 205

OPEN_GRIPPER = 121

PICK = 63

PICK_AND_PLACE = 62

PICK_FROM_POSE = 60

PLACE = 64

PLACE_FROM_POSE = 61

PLAY_SOUND = 240

PULL_AIR_VACUUM_PUMP = 123

PUSH_AIR_VACUUM_PUMP = 124

RELEASE_WITH_TOOL = 130

RESET_TCP = 142

SAVE_DYNAMIC_FRAME_FROM_POINTS = 98

SAVE_DYNAMIC_FRAME_FROM_POSES = 97

SAVE_LAST_LEARNED_TRAJECTORY = 86

SAVE_POSE = 51

SAVE_TRAJECTORY = 85

SAVE_WORKSPACE_FROM_POINTS = 221

SAVE_WORKSPACE_FROM_POSES = 220

SAY = 247

SETUP_ELECTROMAGNET = 125

SET_ARM_MAX_VELOCITY = 3

SET_CONVEYOR = 180

SET_IMAGE_BRIGHTNESS = 230

SET_IMAGE_CONTRAST = 231

SET_IMAGE_SATURATION = 232

SET_JOG_CONTROL = 4

SET_LEARNING_MODE = 1

SET_PIN_MODE = 150

SET_TCP = 141

SET_VOLUME = 241

SHIFT_LINEAR_POSE = 24

SHIFT_POSE = 22

STOP_SOUND = 242

TOOL_REBOOT = 145

UNSET_CONVEYOR = 181

UPDATE_TOOL = 120

UPDATE_TRAJECTORY_INFOS = 87

VISION_PICK = 203

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.ConveyorCan(value)

Bases: Enum

ConveyorID to control conveyors with CAN interface

ID_1 = 12

ID_2 = 13

NONE = 0

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.ConveyorDirection

Bases: object

BACKWARD = -1

FORWARD = 1

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.ConveyorID(value)

Bases: Enum

ConveyorID to be able to have CAN (id 12 and 13) and TTL (id 9 and 10) conveyor in any possible combination

ID_1 = 12 # One, Ned ID_2 = 13 # One, Ned ID_3 = 9 # Ned2 ID_4 = 10 # Ned2

ID_1 = -1

ID_2 = -2

NONE = 0

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.ConveyorTTL(value)

Bases: Enum

ConveyorID to control conveyors with TTL interface

ID_1 = 9

ID_2 = 10

NONE = 0

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.ObjectColor

Bases: object

ANY = 'ANY'

BLUE = 'BLUE'

GREEN = 'GREEN'

RED = 'RED'

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.ObjectShape

Bases: object

ANY = 'ANY'

CIRCLE = 'CIRCLE'

SQUARE = 'SQUARE'

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.PinID

Bases: object

Pins ID

AI1 = 'AI1'

AI2 = 'AI2'

AO1 = 'AO1'

AO2 = 'AO2'

DI1 = 'DI1'

DI2 = 'DI2'

DI3 = 'DI3'

DI4 = 'DI4'

DI5 = 'DI5'

DO1 = 'DO1'

DO2 = 'DO2'

DO3 = 'DO3'

DO4 = 'DO4'

GPIO_1A = '1A'

GPIO_1B = '1B'

GPIO_1C = '1C'

GPIO_2A = '2A'

GPIO_2B = '2B'

GPIO_2C = '2C'

SW_1 = 'SW1'

SW_2 = 'SW2'

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.PinMode

Bases: object

Pin Mode is either OUTPUT or INPUT

INPUT = 1

OUTPUT = 0

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.PinState

Bases: object

Pin State is either LOW or HIGH

HIGH = True

LOW = False

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.ProgramLanguage

Bases: object

ALL = 0

BLOCKLY = 66

NONE = -1

PYTHON2 = 1

PYTHON3 = 2

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.ShiftPose

Bases: object

AXIS_X = 0

AXIS_Y = 1

AXIS_Z = 2

ROT_PITCH = 4

ROT_ROLL = 3

ROT_YAW = 5

class niryo_robot_python_ros_wrapper.ros_wrapper_enums.ToolID

Bases: object

Tools IDs (need to match tools ids in niryo_robot_tools_commander package)

ELECTROMAGNET_1 = 30

GRIPPER_1 = 11

GRIPPER_2 = 12

GRIPPER_3 = 13

GRIPPER_4 = 14

NONE = 0

VACUUM_PUMP_1 = 31

VACUUM_PUMP_2 = 32

Data Classes 

class niryo_robot_utils.dataclasses.JointsPosition.JointsPosition(*joints: float, metadata: JointsPositionMetadata | None = None)

Bases: ABCSerializable

classmethod from_dict(d) → JointsPosition

Creates a new JointsPosition object from a dictionary representing the object.

Parameters:: d (dict) – A dictionary representing the object.

insert(index: int, value: float)

to_dict() → Dict[str, Any]

to_list() → List[int]

class niryo_robot_utils.dataclasses.Pose.Pose(x: float, y: float, z: float, roll: float, pitch: float, yaw: float, metadata: PoseMetadata | None = None)

Bases: ABCSerializable

convert_to_dh_convention() → None

convert_to_meters() → None

classmethod from_dict(d: Dict) → Pose

normalize() → None

quaternion() → Tuple[float, float, float, float]

to_dict() → Dict

to_list() → List[float]

Tools 

For more informations, please refer to: Niryo robot tools commander

class niryo_robot_tools_commander.api.tools_ros_wrapper.ToolsRosWrapper(service_timeout=0.2)

Bases: AbstractNiryoRosWrapper

activate_electromagnet(pin_id)

Activates electromagnet associated to electromagnet_id on pin_id

Parameters:: pin_id (PinID) – Pin ID
Returns:: status, message
Return type:: (int, str)

close_gripper(speed=500, max_torque_percentage=100, hold_torque_percentage=50)

Closes gripper with a speed ‘speed’

Parameters:

speed (int) – Default -> 500
max_torque_percentage (int) – Default -> 100
hold_torque_percentage (int) – Default -> 20

Returns:

status, message

Return type:

(int, str)

deactivate_electromagnet(pin_id)

Deactivates electromagnet associated to electromagnet_id on pin_id

Parameters:: pin_id (PinID) – Pin ID
Returns:: status, message
Return type:: (int, str)

enable_tcp(enable=True)

Enables or disables the TCP function (Tool Center Point). If activation is requested, the last recorded TCP value will be applied. The default value depends on the gripper equipped. If deactivation is requested, the TCP will be coincident with the tool_link.

Parameters:: enable (bool) – True to enable, False otherwise.
Returns:: status, message
Return type:: (int, str)

get_current_tool_id()

Uses /niryo_robot_tools_commander/current_id topic to get current tool id

Returns:: Tool Id
Return type:: ToolID

get_tcp(): Returns the TCP state :return: the tcp (enabled, position and orientation) :rtype: Tool msg object

grasp_with_tool(pin_id='')

Grasps with the tool linked to tool_id. This action corresponds to - Close gripper for Grippers - Pull Air for Vacuum pump - Activate for Electromagnet

Parameters:: pin_id (PinID) – [Only required for electromagnet] Pin ID of the electromagnet
Returns:: status, message
Return type:: (int, str)

open_gripper(speed=500, max_torque_percentage=100, hold_torque_percentage=20)

Opens gripper with a speed ‘speed’

Parameters:

speed (int) – Default -> 500
max_torque_percentage (int) – Default -> 100
hold_torque_percentage (int) – Default -> 20

Returns:

status, message

Return type:

(int, str)

pull_air_vacuum_pump()

Pulls air

Returns:: status, message
Return type:: (int, str)

push_air_vacuum_pump()

Pulls air

Returns:: status, message
Return type:: (int, str)

release_with_tool(pin_id='')

Releases with the tool associated to tool_id. This action corresponds to - Open gripper for Grippers - Push Air for Vacuum pump - Deactivate for Electromagnet

Parameters:: pin_id (PinID) – [Only required for electromagnet] Pin ID of the electromagnet
Returns:: status, message
Return type:: (int, str)

reset_tcp()

Resets the TCP (Tool Center Point) transformation. The TCP will be reset according to the tool equipped.

Returns:: status, message
Return type:: (int, str)

set_tcp(x, y, z, roll, pitch, yaw)

Activates the TCP function (Tool Center Point) and defines the transformation between the tool_link frame and the TCP frame.

Parameters:

x (float) –
y (float) –
z (float) –
roll (float) –
pitch (float) –
yaw (float) –

Returns:

status, message

Return type:

(int, str)

setup_electromagnet(pin_id)

Setups electromagnet on pin

Parameters:: pin_id (PinID) – Pin ID
Returns:: status, message
Return type:: (int, str)

tool_reboot()

Reboots the motor of the tool equipped. Useful when an Overload error occurs. (cf HardwareStatus)

Returns:: status, message
Return type:: (int, str)

update_tool()

Calls service niryo_robot_tools_commander/update_tool to update tool

Returns:: status, message
Return type:: (int, str)

class niryo_robot_tools_commander.api.tools_ros_wrapper_enums.ToolID

Bases: object

Tools IDs (need to match tools ids in niryo_robot_tools_commander package)

ELECTROMAGNET_1 = 30

GRIPPER_1 = 11

GRIPPER_2 = 12

GRIPPER_3 = 13

GRIPPER_4 = 14

NONE = 0

VACUUM_PUMP_1 = 31

VACUUM_PUMP_2 = 32

Database 

For more informations, please refer to: Niryo robot database

class niryo_robot_database.api.database_ros_wrapper.DatabaseRosWrapper(service_timeout=1)

Bases: object

get_setting(name)

Retrieve a setting from the database

Example

database.get_setting('purge_ros_logs_on_startup')

Parameters:: name (str) – the name of the setting
Returns:: the value of the setting
Return type:: object

set_setting(name, value)

Set a setting in the database

Example

database.set_setting('purge_ros_logs_on_startup', True)

Parameters:

name (str) – the name of a setting
value (object) – the value of the setting

Returns:

status, message

Return type:

(int, str)

exception niryo_robot_database.api.database_ros_wrapper.DatabaseRosWrapperException: Bases: Exception

Sound 

For more informations, please refer to: Niryo robot sound

class niryo_robot_sound.api.sound_ros_wrapper.SoundRosWrapper(hardware_version='ned2', service_timeout=1)

Bases: object

property current_sound

Get the current sound being played

Returns:: current sound name
Return type:: Optional[str]

delete_sound(sound_name)

Delete a sound on the RaspberryPi of the robot. If failed, raise NiryoRosWrapperException

Parameters:: sound_name (str) – name of the sound which needs to be deleted
Returns:: status, message
Return type:: (int, str)

get_sound_duration(sound_name)

Returns the duration in seconds of a sound stored in the robot database raise SoundRosWrapperException if the sound doesn’t exists

Parameters:: sound_name (str) – name of sound
Returns:: sound duration in seconds
Return type:: float

property hardware_version

import_sound(sound_name, sound_data)

Delete a sound on the RaspberryPi of the robot. If failed, raise NiryoRosWrapperException

Parameters:

sound_name (str) – name of the sound which needs to be deleted
sound_data (str) – String containing the encoded data of the sound file (wav or mp3)

Returns:

status, message

Return type:

(int, str)

play(sound_name, wait_end=True, start_time_sec=0, end_time_sec=0)

Play a sound from the robot If failed, raise NiryoRosWrapperException

Parameters:

sound_name (str) – Name of the sound to play
start_time_sec (float) – start the sound from this value in seconds
end_time_sec (float) – end the sound at this value in seconds
wait_end (bool) – wait for the end of the sound before exiting the function

Returns:

status, message

Return type:

(int, str)

say(text, language=0)

Use gtts (Google Text To Speech) to interpret a string as sound Languages available are: - English: 0 - French: 1 - Spanish: 2 - Mandarin: 3 - Portuguese: 4

Parameters:

text (string) – text to speek < 100 char
language (int) – language of the text

Returns:

status, message

Return type:

(int, str)

set_volume(sound_volume)

Set the volume percentage of the robot. If failed, raise NiryoRosWrapperException

Parameters:: sound_volume (int) – volume percentage of the sound (0: no sound, 100: max sound)
Returns:: status, message
Return type:: (int, str)

property sounds

Get sound name list

Returns:: list of the sounds of the robot
Return type:: list[string]

stop()

Stop a sound being played. If failed, raise NiryoRosWrapperException

Returns:: status, message
Return type:: (int, str)

exception niryo_robot_sound.api.sound_ros_wrapper.SoundRosWrapperException: Bases: Exception

niryo_robot_sound.api.sound_ros_wrapper.check_ned2_version(func): Decorator that check the robot version

Led Ring 

For more informations, please refer to: Niryo robot led ring

class niryo_robot_led_ring.api.led_ring_ros_wrapper.LedRingRosWrapper(hardware_version='ned2', service_timeout=1)

Bases: object

alternate(color_list, period=0, iterations=0, wait=False)

Several colors are alternated one after the other.

Examples:

from std_msgs.msg import ColorRGBA

color_list = [
    ColorRGBA(r=15, g=50, b=255),
    [255, 0, 0],
    [0, 255, 0],
]

led_ring.alternate(color_list)
led_ring.alternate(color_list, 1, 100, True)
led_ring.alternate(color_list, iterations=20, wait=True)

Parameters:

color_list (list[list[float] or ColorRGBA]) – Led color list of lists of size 3[R, G, B] or ColorRGBA objects. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive alternations. If 0, the Led Ring alternates endlessly.
wait (bool) – The service wait for the animation to finish all iterations or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

property animation_mode: Get the current animation mode of the Led Ring. :return: The current animation mode. One of LedRingAnimation values. :rtype: int

breath(color, period=0, iterations=0, wait=False)

Variation of the light intensity of the LED ring, similar to human breathing.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.breath(ColorRGBA(r=15, g=50, b=255))
led_ring.breath([15, 50, 255], 1, 100, True)
led_ring.breath(ColorRGBA(r=15, g=50, b=255), iterations=20, wait=True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive turns around the Led Ring. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

chase(color, period=0, iterations=0, wait=False)

Movie theater light style chaser animation.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.chase(ColorRGBA(r=15, g=50, b=255))
led_ring.chase([15, 50, 255], 1, 100, True)
led_ring.chase(ColorRGBA(r=15, g=50, b=255), iterations=20, wait=True)

Parameters:

color (list or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive chase. If 0, the animation continues endlessly. One chase just lights one Led every 3 Leds.
wait (bool) – The service wait for the animation to finish all iterations or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

property color: Get the current color of the Led Ring. :return: The current color of the Led Ring in RGB format. :rtype: list(int, int, int)

custom(led_colors)

Sends a colour command to all LEDs of the LED ring. The function expects a list of colours for the 30 LEDs of the robot.

Example:

led_list = [[i / 30. * 255 , 0, 255 - i / 30.] for i in range(30)]
led_ring.custom(led_list)

Parameters:: led_colors (list[list[float] or ColorRGBA]) – List of size 30 of led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
Returns:: status, message
Return type:: (int, str)

flashing(color, period=0, iterations=0, wait=False)

Flashes a color according to a frequency. The frequency is equal to 1 / period.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.flashing([15, 50, 255])
led_ring.flashing([15, 50, 255], 1, 100, True)
led_ring.flashing([15, 50, 255], iterations=20, wait=True)

frequency = 20  # Hz
total_duration = 10 # seconds
led_ring.flashing(ColorRGBA(r=15, g=50, b=255), 1./frequency, total_duration * frequency , True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive flashes. If 0, the Led Ring flashes endlessly.
wait (bool) – The service wait for the animation to finish all iterations or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

go_up(color, period=0, iterations=0, wait=False)

LEDs turn on like a loading circle, and are then all turned off at once.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.go_up(ColorRGBA(r=15, g=50, b=255))
led_ring.go_up([15, 50, 255], 1, 100, True)
led_ring.go_up(ColorRGBA(r=15, g=50, b=255), iterations=20, wait=True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive turns around the Led Ring. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

go_up_down(color, period=0, iterations=0, wait=False)

LEDs turn on like a loading circle, and are turned off the same way.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.go_up_down(ColorRGBA(r=15, g=50, b=255))
led_ring.go_up_down([15, 50, 255], 1, 100, True)
led_ring.go_up_down(ColorRGBA(r=15, g=50, b=255), iterations=20, wait=True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive turns around the Led Ring. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

property hardware_version

property is_autonomous: Return whether the led ring is in autonomous mode or not. :return: True if the led ring is in autonomous mode, False otherwise. :rtype: bool

rainbow(period=0, iterations=0, wait=False)

Draws rainbow that fades across all LEDs at once.

Examples:

led_ring.rainbow()
led_ring.rainbow(5, 2, True)
led_ring.rainbow(wait=True)

Parameters:

period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive rainbows. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

rainbow_chase(period=0, iterations=0, wait=False)

Rainbow chase animation, like the led_ring_chase method.

Examples:

led_ring.rainbow_chase()
led_ring.rainbow_chase(5, 2, True)
led_ring.rainbow_chase(wait=True)

Parameters:

period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive rainbow cycles. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

rainbow_cycle(period=0, iterations=0, wait=False)

Draws rainbow that uniformly distributes itself across all LEDs.

Examples:

led_ring.rainbow_cycle()
led_ring.rainbow_cycle(5, 2, True)
led_ring.rainbow_cycle(wait=True)

Parameters:

period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive rainbow cycles. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

set_led_color(led_id, color)

Lights up an LED in one colour. RGB colour between 0 and 255.

Example:

from std_msgs.msg import ColorRGBA

led_ring.set_led_color(5, [15, 50, 255])
led_ring.set_led_color(5, ColorRGBA(r=15, g=50, b=255))

Parameters:

led_id (int) – Id of the led: between 0 and 29
color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.

Returns:

status, message

Return type:

(int, str)

set_user_animation(animation_mode, colors, period=0, iterations=0, wait_end=False)

Low level function to set an animation on the Led Ring. Prefer using the high level functions.

Parameters:

animation_mode (int) – Animation mode to set. One of LedRingAnimation values.
colors (list[list[float] or ColorRGBA]) – List of colors for the animation. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive animations. If 0, the animation continues endlessly.
wait_end (bool) – Wait for the end of the animation before exiting the function.

Returns:

status, message

Return type:

(int, str)

snake(color, period=0, iterations=0, wait=False)

A small coloured snake (certainly a python :D ) runs around the LED ring.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.snake(ColorRGBA(r=15, g=50, b=255))
led_ring.snake([15, 50, 255], 1, 100, True)
led_ring.snake(ColorRGBA(r=15, g=50, b=255), iterations=20, wait=True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default duration will be used.
iterations (int) – Number of consecutive turns around the Led Ring. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

solid(color, wait=False)

Sets the whole Led Ring to a fixed color.

Example:

from std_msgs.msg import ColorRGBA

led_ring.solid([15, 50, 255])
led_ring.solid(ColorRGBA(r=15, g=50, b=255), True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
wait (bool) – The service wait for the animation to finish or not to answer. For this method, the action is quickly done, so waiting doesn’t take a lot of time.

Returns:

status, message

Return type:

(int, str)

turn_off(wait=False)

Turns off all Leds

Example:

led_ring.turn_off()

Parameters:: wait (bool) – The service wait for the animation to finish or not to answer. For this method, the action is quickly done, so waiting doesn’t take a lot of time.
Returns:: status, message
Return type:: (int, str)

wipe(color, period=0, wait=False)

Wipes a color across the LED Ring, light a LED at a time.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.wipe(ColorRGBA(r=15, g=50, b=255))
led_ring.wipe([15, 50, 255], 1, True)
led_ring.wipe(ColorRGBA(r=15, g=50, b=255), wait=True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
wait (bool) – The service wait for the animation to finish or not to answer.

Returns:

status, message

Return type:

(int, str)

exception niryo_robot_led_ring.api.led_ring_ros_wrapper.LedRingRosWrapperException: Bases: Exception

niryo_robot_led_ring.api.led_ring_ros_wrapper.check_ned2_version(func): Decorator that check the robot version

Robot Status 

For more informations, please refer to: Niryo robot status

class niryo_robot_status.api.robot_status_ros_wrapper.RobotStatusRosWrapper(service_timeout=1)

Bases: object

prepare_update()

reboot()

shutdown()

exception niryo_robot_status.api.robot_status_ros_wrapper.RobotStatusRosWrapperException: Bases: Exception

Custom Button 

class niryo_robot_python_ros_wrapper.custom_button_ros_wrapper.CustomButtonRosWrapper(hardware_version='ned2')

Bases: object

get_and_wait_press_duration(timeout=0)

Waits for the button to be pressed and returns the press time. Returns 0 if no press is detected after the timeout duration.

Return type:: float

property hardware_version

is_pressed()

Button press state

Return type:: bool

property state

Get the button state from the ButtonAction class

Returns:: int value from the ButtonAction class
Return type:: int

wait_for_action(action, timeout=0)

Waits until a specific action occurs and returns true. Returns false if the timeout is reached.

Parameters:: action (int) – int value from the ButtonAction class
Returns:: True if the action has occurred, false otherwise
Return type:: bool

wait_for_any_action(timeout=0)

Returns the detected action. Returns ButtonAction.NO_ACTION if the timeout is reached without action.

Returns:: Returns the detected action, or ButtonAction.NO_ACTION if the timeout is reached without any action.
Return type:: int

exception niryo_robot_python_ros_wrapper.custom_button_ros_wrapper.CustomButtonRosWrapperException: Bases: Exception

niryo_robot_python_ros_wrapper.custom_button_ros_wrapper.check_ned2_version(func): Decorator that check the robot version