New in version 1.2.0

✨ Features

• New property collision detected() to know if a collision occurred

• New method clear_collision_detected() to clear the collision_detected flag

• New method __handshake() to initiate the connection between the client and the server.

• New movements methods which can’t take either PoseObject or JointsPosition objects:

  • move() replace move_joints(), move_pose() and move_linear_pose().

  • jog(), replace jog_joints() and jog_pose().

  • pick(), replace pick_from_pose().

  • place(), replace place_from_pose().

  • execute_trajectory(), replace execute_trajectory_from_poses() and execute_trajectory_from_poses_and_joints().

• Added an optional parameter obs_pose to vision_pick()

• Added an optional parameter linear=False to shift_pose(), replace shift_linear_pose()

• Added an optional parameter linear=False to move_relative(), replace move_linear_relative()

• Improved PoseObject class

  • add a metadata attribute which carries information about the pose

  • add __iter__(), __getitem__() and __len__() methods to make the class an iterator

  • add from_dict() and to_dict() to easily serialize / deserialize the object

  • add a quaternion() function which returns the pose’s rotation quaternion

• New JointsPosition class. This is the class which have to be used to represent a joints position in the code

• Added a logging system to the library. It replace the previous logs which where simple prints

• Added verbose parameter to the NiryoRobot constructor. Use it to mute the pyniryo logs

• Added support for vacuum pump v2

🛠️ Improvements

• Overall better documentation (docstring and sphinx build system)

• Replaced all the wildcard imports (from pyniryo import *) by explicit imports (from pyniryo import NiryoRobot)

• The error message when a command fail now include the command name. It allow an easier debugging process

• All the methods which were taking arrays of float to represent a joints position or a pose can also take a JointsPosition or a pyniryo.api.objects.PoseObject

• Added .style.yapf file

• Delete useless CMakeLists.txt

• Added a context manager for the robot jog control

• Added new functions: * get_conveyors_feedback()

• Deprecate move_relative()

• inverse_kinematics() returns a pose v1 and inverse_kinematics_v2() returns a pose v2

• Revamped unit tests. They are now more readable and more efficient, and more independent from each other

🪲 Bugfixes

• Replaced deprecated use of value in EnumClass by isinstance(value, EnumClass)

• The function save_last_learned_trajectory() didn’t send name and description to the server

• The function update_trajectory_infos() didn’t send name, new_name and new_description to the server

• Fix bad conditional requirement on opencv in requirements.txt

• Deleted inexistant function percentage_open_gripper

• Fixed set_brightness(), set_contrast() and set_saturation() which were using a deprecated numpy attribute

• Fixed the led ring functions which were returning an empty list instead of None

• get_trajectory_saved now returns a list of JointPosition