PyNiryo

Setup

  • Installation
    • Installation with pip
    • Uninstall
  • Find your Robot’s IP address
    • Hotspot mode
    • Simulation or directly on the robot
    • Direct Ethernet connection
    • Computer and Robot Connected on the same router
    • Make IP permanent
      • Step 1
      • Step 2
      • Step 3
  • Verify your Setup and Get Started

Examples

  • Examples: Basics
    • Your first move joint
      • Code Details - First Move J
    • Your first pick and place
      • Code Details - First Pick And Place
    • Notes
  • Examples: Movement
    • Joints
      • Move Joints
      • Get Joints
    • Pose
      • Move Pose
      • Get Pose
      • How to use the PoseObject
  • Examples: Tool Action
    • Tool control
      • Equip Tool
      • Grasping
      • Releasing
    • Pick & Place with tools
      • Code Baseline
      • First Solution : the heaviest
      • Second Solution : Use of PoseObject
      • Third Solution : Pick from pose & Place from pose functions
      • Fourth Solution : All in one
  • Examples: Conveyor
    • Simple Conveyor control
    • Advanced Conveyor control
  • Examples: Vision
    • Needed piece of code
    • Simple Vision Pick & Place
      • Code Details - Simple Vision Pick and Place
    • First conditioning via Vision
      • Code Details - First Conditioning via Vision
    • Multi Reference Conditioning
      • Code Details - Multi Reference Conditioning
    • Sorting Pick with Conveyor
      • Code Details - Sort Picking
  • Code templates
    • The short template
    • Advanced template
    • Advanced template for conveyor
    • Advanced template for vision

API Documentation

  • PyNiryo API Documentation
    • Command Functions
      • TCP Connection
        • NiryoRobot
      • Main purpose functions
        • NiryoRobot
      • Joints & Pose
        • NiryoRobot
      • Saved Poses
        • NiryoRobot
      • Pick & Place
        • NiryoRobot
      • Trajectories
        • NiryoRobot
      • Tools
        • NiryoRobot
      • Hardware
        • NiryoRobot
      • Conveyor
        • NiryoRobot
      • Vision
        • NiryoRobot
    • Enums
      • CalibrateMode
        • CalibrateMode.AUTO
        • CalibrateMode.MANUAL
      • RobotAxis
        • RobotAxis.X
        • RobotAxis.Y
        • RobotAxis.Z
        • RobotAxis.ROLL
        • RobotAxis.PITCH
        • RobotAxis.YAW
      • ToolID
        • ToolID.NONE
        • ToolID.GRIPPER_1
        • ToolID.GRIPPER_2
        • ToolID.GRIPPER_3
        • ToolID.ELECTROMAGNET_1
        • ToolID.VACUUM_PUMP_1
      • PinMode
        • PinMode.INPUT
        • PinMode.OUTPUT
      • PinState
        • PinState.LOW
        • PinState.HIGH
      • PinID
        • PinID.GPIO_1A
        • PinID.GPIO_1B
        • PinID.GPIO_1C
        • PinID.GPIO_2A
        • PinID.GPIO_2B
        • PinID.GPIO_2C
      • ConveyorID
        • ConveyorID.NONE
        • ConveyorID.ID_1
        • ConveyorID.ID_2
      • ConveyorDirection
        • ConveyorDirection.FORWARD
        • ConveyorDirection.BACKWARD
      • ObjectColor
        • ObjectColor.RED
        • ObjectColor.BLUE
        • ObjectColor.GREEN
        • ObjectColor.ANY
      • ObjectShape
        • ObjectShape.SQUARE
        • ObjectShape.CIRCLE
        • ObjectShape.ANY
    • Python Object classes
      • PoseObject
        • PoseObject.copy_with_offsets()
        • PoseObject.to_list()
      • HardwareStatusObject
      • DigitalPinObject

Image Processing

  • Overview & Examples
    • Play with Robot Video Stream
      • Get & Display Image from Stream
      • Undistort and display video stream
    • Pure image processing functions
      • Color Thresholding
      • Morphological Transformations
      • Contours finder
      • Find object center position
      • Markers Extraction
      • Debug mode
    • Do your own image processing !
      • Display video stream with extracted workspace
      • Vision pick via your image processing pipeline
  • Functions Documentation
    • Pure Image Processing
      • biggest_contours_finder()
      • debug_threshold_color()
      • draw_contours()
      • get_contour_angle()
      • get_contour_barycenter()
      • morphological_transformations()
      • threshold_hsv()
    • Workspaces wise
      • debug_markers()
      • extract_img_workspace()
      • relative_pos_from_pixels()
    • Show
      • show_img()
      • show_img_and_check_close()
      • show_img_and_wait_close()
    • Image Editing
      • add_annotation_to_image()
      • compress_image()
      • concat_imgs()
      • resize_img()
      • uncompress_image()
      • undistort_image()
    • Enums Image Processing
      • ColorHSV
        • ColorHSV.BLUE
        • ColorHSV.RED
        • ColorHSV.GREEN
        • ColorHSV.ANY
      • ColorHSVPrime
        • ColorHSVPrime.BLUE
        • ColorHSVPrime.RED
        • ColorHSVPrime.GREEN
        • ColorHSVPrime.ANY
      • ObjectType
        • ObjectType.SQUARE
        • ObjectType.TRIANGLE
        • ObjectType.CIRCLE
        • ObjectType.ANY
      • MorphoType
        • MorphoType.ERODE
        • MorphoType.DILATE
        • MorphoType.OPEN
        • MorphoType.CLOSE
      • KernelType
        • KernelType.RECT
        • KernelType.ELLIPSE
        • KernelType.CROSS
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