PyNiryo

Versions

  • Versions compatibility
  • Changelogs
    • New in version 1.2.0
      • ✨ Features
      • 🛠️ Improvements
      • 🪲 Bugfixes
    • New in version 1.1.2
      • ✨ Features

Setup

  • Installation
    • PyPi installation
    • GitHub 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
  • 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: Pick from pose & Place from pose functions
      • Third Solution: All in one
  • Examples : Conveyor Belt
    • Simple Conveyor control
    • Advanced Conveyor Belt 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
  • Examples : Dynamic frames
    • Simple dynamic frame control
  • Code templates
    • The short template
    • Advanced template
    • Advanced template for Conveyor Belt
    • Advanced template for Vision

Image Processing

  • Overview
  • 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

API Documentation

  • PyNiryo API Documentation
    • TCP client
      • get_deprecation_msg()
      • NiryoRobot
        • NiryoRobot.connect()
        • NiryoRobot.close_connection()
        • NiryoRobot.calibrate()
        • NiryoRobot.calibrate_auto()
        • NiryoRobot.need_calibration()
        • NiryoRobot.get_learning_mode()
        • NiryoRobot.learning_mode
        • NiryoRobot.set_learning_mode()
        • NiryoRobot.set_arm_max_velocity()
        • NiryoRobot.jog_control()
        • NiryoRobot.set_jog_control()
        • NiryoRobot.wait()
        • NiryoRobot.collision_detected
        • NiryoRobot.clear_collision_detected()
        • NiryoRobot.get_joints()
        • NiryoRobot.get_pose()
        • NiryoRobot.get_pose_quat()
        • NiryoRobot.get_pose_v2()
        • NiryoRobot.joints
        • NiryoRobot.move_joints()
        • NiryoRobot.pose
        • NiryoRobot.pose_v2
        • NiryoRobot.move_pose()
        • NiryoRobot.move_linear_pose()
        • NiryoRobot.move()
        • NiryoRobot.shift_pose()
        • NiryoRobot.shift_linear_pose()
        • NiryoRobot.jog_joints()
        • NiryoRobot.jog_pose()
        • NiryoRobot.jog()
        • NiryoRobot.move_to_home_pose()
        • NiryoRobot.go_to_sleep()
        • NiryoRobot.forward_kinematics()
        • NiryoRobot.inverse_kinematics()
        • NiryoRobot.forward_kinematics_v2()
        • NiryoRobot.inverse_kinematics_v2()
        • NiryoRobot.get_pose_saved()
        • NiryoRobot.save_pose()
        • NiryoRobot.delete_pose()
        • NiryoRobot.get_saved_pose_list()
        • NiryoRobot.pick_from_pose()
        • NiryoRobot.place_from_pose()
        • NiryoRobot.pick()
        • NiryoRobot.place()
        • NiryoRobot.pick_and_place()
        • NiryoRobot.get_trajectory_saved()
        • NiryoRobot.get_saved_trajectory_list()
        • NiryoRobot.execute_registered_trajectory()
        • NiryoRobot.execute_trajectory()
        • NiryoRobot.execute_trajectory_from_poses()
        • NiryoRobot.execute_trajectory_from_poses_and_joints()
        • NiryoRobot.save_trajectory()
        • NiryoRobot.save_last_learned_trajectory()
        • NiryoRobot.update_trajectory_infos()
        • NiryoRobot.delete_trajectory()
        • NiryoRobot.clean_trajectory_memory()
        • NiryoRobot.tool
        • NiryoRobot.get_current_tool_id()
        • NiryoRobot.update_tool()
        • NiryoRobot.grasp_with_tool()
        • NiryoRobot.release_with_tool()
        • NiryoRobot.open_gripper()
        • NiryoRobot.close_gripper()
        • NiryoRobot.pull_air_vacuum_pump()
        • NiryoRobot.push_air_vacuum_pump()
        • NiryoRobot.setup_electromagnet()
        • NiryoRobot.activate_electromagnet()
        • NiryoRobot.deactivate_electromagnet()
        • NiryoRobot.enable_tcp()
        • NiryoRobot.set_tcp()
        • NiryoRobot.reset_tcp()
        • NiryoRobot.tool_reboot()
        • NiryoRobot.get_tcp()
        • NiryoRobot.set_pin_mode()
        • NiryoRobot.digital_io_state
        • NiryoRobot.get_digital_io_state()
        • NiryoRobot.digital_write()
        • NiryoRobot.digital_read()
        • NiryoRobot.analog_io_state
        • NiryoRobot.get_analog_io_state()
        • NiryoRobot.analog_write()
        • NiryoRobot.analog_read()
        • NiryoRobot.custom_button_state
        • NiryoRobot.get_custom_button_state()
        • NiryoRobot.hardware_status
        • NiryoRobot.get_hardware_status()
        • NiryoRobot.set_conveyor()
        • NiryoRobot.unset_conveyor()
        • NiryoRobot.run_conveyor()
        • NiryoRobot.stop_conveyor()
        • NiryoRobot.control_conveyor()
        • NiryoRobot.get_connected_conveyors_id()
        • NiryoRobot.get_conveyors_feedback()
        • NiryoRobot.get_img_compressed()
        • NiryoRobot.set_brightness()
        • NiryoRobot.set_contrast()
        • NiryoRobot.set_saturation()
        • NiryoRobot.get_image_parameters()
        • NiryoRobot.get_target_pose_from_rel()
        • NiryoRobot.get_target_pose_from_cam()
        • NiryoRobot.vision_pick()
        • NiryoRobot.move_to_object()
        • NiryoRobot.detect_object()
        • NiryoRobot.get_camera_intrinsics()
        • NiryoRobot.save_workspace_from_robot_poses()
        • NiryoRobot.save_workspace_from_points()
        • NiryoRobot.delete_workspace()
        • NiryoRobot.get_workspace_poses()
        • NiryoRobot.get_workspace_ratio()
        • NiryoRobot.get_workspace_list()
        • NiryoRobot.get_saved_dynamic_frame_list()
        • NiryoRobot.get_saved_dynamic_frame()
        • NiryoRobot.save_dynamic_frame_from_poses()
        • NiryoRobot.save_dynamic_frame_from_points()
        • NiryoRobot.edit_dynamic_frame()
        • NiryoRobot.delete_dynamic_frame()
        • NiryoRobot.move_relative()
        • NiryoRobot.move_linear_relative()
        • NiryoRobot.get_sounds()
        • NiryoRobot.play_sound()
        • NiryoRobot.set_volume()
        • NiryoRobot.stop_sound()
        • NiryoRobot.get_sound_duration()
        • NiryoRobot.say()
        • NiryoRobot.set_led_color()
        • NiryoRobot.led_ring_solid()
        • NiryoRobot.led_ring_turn_off()
        • NiryoRobot.led_ring_flashing()
        • NiryoRobot.led_ring_alternate()
        • NiryoRobot.led_ring_chase()
        • NiryoRobot.led_ring_wipe()
        • NiryoRobot.led_ring_rainbow()
        • NiryoRobot.led_ring_rainbow_cycle()
        • NiryoRobot.led_ring_rainbow_chase()
        • NiryoRobot.led_ring_go_up()
        • NiryoRobot.led_ring_go_up_down()
        • NiryoRobot.led_ring_breath()
        • NiryoRobot.led_ring_snake()
        • NiryoRobot.led_ring_custom()
    • Exceptions
      • ClientNotConnectedException
      • HostNotReachableException
      • InvalidAnswerException
      • NiryoRobotException
      • TcpCommandException
    • Enums
      • CalibrateMode
        • CalibrateMode.AUTO
        • CalibrateMode.MANUAL
      • ConveyorDirection
        • ConveyorDirection.BACKWARD
        • ConveyorDirection.FORWARD
      • ConveyorID
        • ConveyorID.ID_1
        • ConveyorID.ID_2
        • ConveyorID.NONE
      • LengthUnit
        • LengthUnit.METERS
        • LengthUnit.MILLIMETERS
      • ObjectColor
        • ObjectColor.ANY
        • ObjectColor.BLUE
        • ObjectColor.GREEN
        • ObjectColor.RED
      • ObjectShape
        • ObjectShape.ANY
        • ObjectShape.CIRCLE
        • ObjectShape.SQUARE
      • PinID
        • PinID.AI1
        • PinID.AI2
        • PinID.AO1
        • PinID.AO2
        • PinID.DI1
        • PinID.DI2
        • PinID.DI3
        • PinID.DI4
        • PinID.DI5
        • PinID.DO1
        • PinID.DO2
        • PinID.DO3
        • PinID.DO4
        • PinID.GPIO_1A
        • PinID.GPIO_1B
        • PinID.GPIO_1C
        • PinID.GPIO_2A
        • PinID.GPIO_2B
        • PinID.GPIO_2C
        • PinID.SW_1
        • PinID.SW_2
      • PinMode
        • PinMode.INPUT
        • PinMode.OUTPUT
      • PinState
        • PinState.HIGH
        • PinState.LOW
      • RobotAxis
        • RobotAxis.PITCH
        • RobotAxis.ROLL
        • RobotAxis.X
        • RobotAxis.Y
        • RobotAxis.YAW
        • RobotAxis.Z
      • ToolID
        • ToolID.ELECTROMAGNET_1
        • ToolID.GRIPPER_1
        • ToolID.GRIPPER_2
        • ToolID.GRIPPER_3
        • ToolID.NONE
        • ToolID.VACUUM_PUMP_1
        • ToolID.VACUUM_PUMP_2
    • Python object classes
      • AnalogPinObject
      • DigitalPinObject
      • HardwareStatusObject
      • JointsPosition
        • JointsPosition.from_dict()
        • JointsPosition.to_dict()
        • JointsPosition.to_list()
      • PoseMetadata
        • PoseMetadata.from_dict()
        • PoseMetadata.to_dict()
        • PoseMetadata.v1()
        • PoseMetadata.v2()
      • PoseObject
        • PoseObject.copy_with_offsets()
        • PoseObject.from_dict()
        • PoseObject.quaternion()
        • PoseObject.to_dict()
        • PoseObject.to_list()
  • Vision API
    • Pure image processing
      • image_functions.threshold_hsv()
      • image_functions.debug_threshold_color()
      • image_functions.morphological_transformations()
      • image_functions.get_contour_barycenter()
      • image_functions.get_contour_angle()
      • image_functions.biggest_contour_finder()
      • image_functions.biggest_contours_finder()
      • image_functions.draw_contours()
      • image_functions.draw_barycenter()
      • image_functions.draw_angle()
    • Workspaces wise
      • image_functions.extract_img_workspace()
      • image_functions.debug_markers()
      • image_functions.relative_pos_from_pixels()
    • Show
      • image_functions.show_img_and_check_close()
      • image_functions.show_img()
      • image_functions.show_img_and_wait_close()
    • Image Editing
      • image_functions.compress_image()
      • image_functions.uncompress_image()
      • image_functions.add_annotation_to_image()
      • image_functions.undistort_image()
      • image_functions.resize_img()
      • image_functions.concat_imgs()
    • 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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