PyNiryo2

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
  • 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
  • Examples: Dynamic frames
    • Simple dynamic frame control
  • Code templates
    • The short template
    • Advanced template
    • Advanced template for conveyor
    • Advanced template for vision
    • Callbacks Templates

API Documentation

  • NiryoRobot
    • NiryoRobot - Command functions
      • NiryoRobot functions
        • NiryoRobot
      • NiryoRobot properties
    • Globals Enums
      • RobotErrors
        • RobotErrors.SUCCESS
        • RobotErrors.CANCELLED
        • RobotErrors.PREEMPTED
        • RobotErrors.FAILURE
        • RobotErrors.ABORTED
        • RobotErrors.STOPPED
        • RobotErrors.ROS_ERROR
        • RobotErrors.FILE_ALREADY_EXISTS
        • RobotErrors.UNKNOWN_COMMAND
        • RobotErrors.NOT_IMPLEMENTED_COMMAND
        • RobotErrors.INVALID_PARAMETERS
        • RobotErrors.HARDWARE_FAILURE
        • RobotErrors.HARDWARE_NOT_OK
        • RobotErrors.LEARNING_MODE_ON
        • RobotErrors.CALIBRATION_NOT_DONE
        • RobotErrors.DIGITAL_IO_PANEL_ERROR
        • RobotErrors.LED_MANAGER_ERROR
        • RobotErrors.BUTTON_ERROR
        • RobotErrors.WRONG_MOTOR_TYPE
        • RobotErrors.DXL_WRITE_ERROR
        • RobotErrors.DXL_READ_ERROR
        • RobotErrors.CAN_WRITE_ERROR
        • RobotErrors.CAN_READ_ERROR
        • RobotErrors.NO_CONVEYOR_LEFT
        • RobotErrors.NO_CONVEYOR_FOUND
        • RobotErrors.CONVEYOR_ID_INVALID
        • RobotErrors.CALIBRATION_IN_PROGRESS
        • RobotErrors.VIDEO_STREAM_ON_OFF_FAILURE
        • RobotErrors.VIDEO_STREAM_NOT_RUNNING
        • RobotErrors.OBJECT_NOT_FOUND
        • RobotErrors.MARKERS_NOT_FOUND
        • RobotErrors.ARM_COMMANDER_FAILURE
        • RobotErrors.GOAL_STILL_ACTIVE
        • RobotErrors.JOG_CONTROLLER_ENABLED
        • RobotErrors.CONTROLLER_PROBLEMS
        • RobotErrors.SHOULD_RESTART
        • RobotErrors.JOG_CONTROLLER_FAILURE
        • RobotErrors.PLAN_FAILED
        • RobotErrors.NO_PLAN_AVAILABLE
        • RobotErrors.INVERT_KINEMATICS_FAILURE
        • RobotErrors.TOOL_FAILURE
        • RobotErrors.TOOL_ID_INVALID
        • RobotErrors.TOOL_NOT_CONNECTED
        • RobotErrors.TOOL_ROS_INTERFACE_ERROR
        • RobotErrors.POSES_HANDLER_CREATION_FAILED
        • RobotErrors.POSES_HANDLER_REMOVAL_FAILED
        • RobotErrors.POSES_HANDLER_READ_FAILURE
        • RobotErrors.POSES_HANDLER_COMPUTE_FAILURE
        • RobotErrors.WORKSPACE_CREATION_FAILED
        • RobotErrors.PROGRAMS_MANAGER_FAILURE
        • RobotErrors.PROGRAMS_MANAGER_READ_FAILURE
        • RobotErrors.PROGRAMS_MANAGER_UNKNOWN_LANGUAGE
        • RobotErrors.PROGRAMS_MANAGER_NOT_RUNNABLE_LANGUAGE
        • RobotErrors.PROGRAMS_MANAGER_EXECUTION_FAILED
        • RobotErrors.PROGRAMS_MANAGER_STOPPING_FAILED
        • RobotErrors.PROGRAMS_MANAGER_AUTORUN_FAILURE
        • RobotErrors.PROGRAMS_MANAGER_WRITING_FAILURE
        • RobotErrors.PROGRAMS_MANAGER_FILE_ALREADY_EXISTS
        • RobotErrors.PROGRAMS_MANAGER_FILE_DOES_NOT_EXIST
        • RobotErrors.SERIAL_FILE_ERROR
        • RobotErrors.SERIAL_UNKNOWN_ERROR
        • RobotErrors.MQTT_PUBLISH_FUNCTION_DOESNT_EXIST
        • RobotErrors.MQTT_PUBLISH_FUNCTION_INVALID_ARGUMENTS
        • RobotErrors.SYSTEM_API_CLIENT_UNKNOWN_ERROR
        • RobotErrors.SYSTEM_API_CLIENT_INVALID_ROBOT_NAME
        • RobotErrors.SYSTEM_API_CLIENT_REQUEST_FAILED
      • ArmMoveCommandType
        • ArmMoveCommandType.JOINTS
        • ArmMoveCommandType.POSE
        • ArmMoveCommandType.POSITION
        • ArmMoveCommandType.RPY
        • ArmMoveCommandType.POSE_QUAT
        • ArmMoveCommandType.LINEAR_POSE
        • ArmMoveCommandType.SHIFT_POSE
        • ArmMoveCommandType.SHIFT_LINEAR_POSE
        • ArmMoveCommandType.EXECUTE_TRAJ
        • ArmMoveCommandType.DRAW_SPIRAL
        • ArmMoveCommandType.DRAW_CIRCLE
        • ArmMoveCommandType.EXECUTE_FULL_TRAJ
        • ArmMoveCommandType.EXECUTE_RAW_TRAJ
    • Globals Objects
  • NiryoTopic
    • NiryoTopic - Usage
    • NiryoTopic - Class
      • NiryoTopic
        • NiryoTopic.is_subscribed
        • NiryoTopic.value
        • NiryoTopic.subscribe()
        • NiryoTopic.unsubscribe()
        • NiryoTopic.publish()
  • NiryoRos
    • NiryoRos
      • NiryoRos.close()
      • NiryoRos.terminate()
      • NiryoRos.hardware_version
    • NiryoRosTimeoutException
  • Arm
    • Arm - Command functions
      • Arm
      • Calibration functions
        • Arm.calibrate()
        • Arm.calibrate_auto()
        • Arm.request_new_calibration()
        • Arm.reset_calibration()
        • Arm.need_calibration()
      • Robot move functions
        • Arm.set_arm_max_velocity()
        • Arm.go_to_sleep()
        • Arm.stop_move()
        • Arm.move_to_home_pose()
        • Arm.move_joints()
        • Arm.move_pose()
        • Arm.move_linear_pose()
        • Arm.shift_pose()
        • Arm.move_relative()
        • Arm.move_linear_relative()
        • Arm.set_jog_control()
        • Arm.jog_joints()
        • Arm.jog_pose()
      • Robot status functions
        • Arm.hardware_status
        • Arm.joints_state
        • Arm.get_joints()
        • Arm.joints
        • Arm.pose
        • Arm.get_pose
        • Arm.get_pose_quat()
      • Learning mode functions
        • Arm.learning_mode
        • Arm.get_learning_mode()
        • Arm.set_learning_mode()
      • Kinematics functions
        • Arm.forward_kinematics()
        • Arm.inverse_kinematics()
    • Arm - Niryo Topics
    • Arm - Enums
    • Arm - Objects
      • HardwareStatusObject
      • JointStateObject
      • PoseObject
  • Tool
    • Tool - Command Functions
      • Tool
      • Tool functions
        • Tool.update_tool()
        • Tool.tool
        • Tool.get_current_tool_id
        • Tool.grasp_with_tool()
        • Tool.release_with_tool()
      • Grippers functions
        • Tool.open_gripper()
        • Tool.close_gripper()
      • Vacuum pump functions
        • Tool.pull_air_vacuum_pump()
        • Tool.push_air_vacuum_pump()
      • Electromagnet functions
        • Tool.setup_electromagnet()
        • Tool.activate_electromagnet()
        • Tool.deactivate_electromagnet()
      • TCP functions
        • Tool.enable_tcp()
        • Tool.set_tcp()
        • Tool.reset_tcp()
    • Tool - Niryo Topics
    • Tool - Enums
  • Vision
    • Vision - Command functions
      • Vision
      • Camera functions
        • Vision.get_img_compressed
        • Vision.get_camera_intrinsics
        • Vision.get_image_parameters
        • Vision.set_brightness()
        • Vision.set_contrast()
        • Vision.set_saturation()
      • Detection functions
        • Vision.get_target_pose_from_cam()
        • Vision.vision_pick()
        • Vision.move_to_object()
        • Vision.detect_object()
      • Workspace functions
        • Vision.get_target_pose_from_rel()
        • Vision.save_workspace_from_robot_poses()
        • Vision.save_workspace_from_points()
        • Vision.delete_workspace()
        • Vision.get_workspace_ratio()
        • Vision.get_workspace_list()
    • Vision - Niryo Topics
    • Vision - Enums
    • Vision - Namedtuple
  • I/Os
    • I/Os - Command functions
      • IO
      • State functions
        • IO.digital_io_states
        • IO.get_digital_io_states
        • IO.get_digital_io_state()
      • Read & Write functions
        • IO.set_pin_mode()
        • IO.digital_write()
        • IO.digital_read()
    • I/Os - Niryo Topics
    • I/Os - Enums
    • I/Os - Objects
  • Conveyor
    • Conveyor - Command functions
      • Conveyor functions
        • Conveyor
    • Conveyor - Niryo Topics
    • Conveyor - Enums
    • Conveyor - Namedtuple
  • Saved poses
    • Saved poses - Command functions
      • Saved poses functions
        • SavedPoses
  • Pick & Place
    • Pick & Place - Command functions
      • Pick & Place functions
        • PickPlace
  • Trajectories
    • Trajectories - Command functions
      • Trajectories functions
        • Trajectories
  • Frames
    • Frames - Command functions
      • Frames functions
        • Frames
  • Led Ring
    • Led Ring - Command functions
      • LedRing
        • LedRing.status
        • LedRing.get_status()
        • LedRing.solid()
        • LedRing.turn_off()
        • LedRing.flash()
        • LedRing.alternate()
        • LedRing.chase()
        • LedRing.wipe()
        • LedRing.go_up()
        • LedRing.go_up_down()
        • LedRing.breath()
        • LedRing.snake()
        • LedRing.rainbow()
        • LedRing.rainbow_cycle()
        • LedRing.rainbow_chase()
        • LedRing.custom()
        • LedRing.set_led_color()
    • Led Ring - Niryo Topics
    • Led Ring - Enums
      • AnimationMode
        • AnimationMode.NONE
        • AnimationMode.UNKNOWN
        • AnimationMode.SOLID
        • AnimationMode.FLASHING
        • AnimationMode.ALTERNATE
        • AnimationMode.CHASE
        • AnimationMode.COLOR_WIPE
        • AnimationMode.RAINBOW
        • AnimationMode.RAINBOW_CYLE
        • AnimationMode.RAINBOW_CHASE
        • AnimationMode.GO_UP
        • AnimationMode.GO_UP_AND_DOWN
        • AnimationMode.BREATH
        • AnimationMode.SNAKE
        • AnimationMode.CUSTOM
      • LedMode
        • LedMode.NONE
        • LedMode.UNKNOWN
        • LedMode.ROBOT_STATUS
        • LedMode.USER
    • Led Ring - Objects
      • LedRingStatusObject
  • Sound
    • Sound - Command functions
      • Sound
      • Sound - Play
        • Sound.play()
        • Sound.stop()
        • Sound.state
        • Sound.say()
      • Sound - Volume
        • Sound.volume
        • Sound.get_volume()
        • Sound.set_volume()
      • Sound - Manage
        • Sound.sounds
        • Sound.get_sounds()
        • Sound.save()
        • Sound.delete()
        • Sound.get_sound_duration()
    • Sound - Niryo Topics
    • Sound - Enums
      • ManageSound
        • ManageSound.ADD
        • ManageSound.DELETE
      • Language
        • Language.ENGLISH
        • Language.FRENCH
        • Language.SPANISH
        • Language.MANDARIN
        • Language.PORTUGUESE
PyNiryo2
  • Overview: module code

All modules for which code is available

  • pyniryo2.arm.arm
  • pyniryo2.arm.enums
  • pyniryo2.arm.objects
  • pyniryo2.conveyor.conveyor
  • pyniryo2.conveyor.enums
  • pyniryo2.enums
  • pyniryo2.frames.frames
  • pyniryo2.io.enums
  • pyniryo2.io.io
  • pyniryo2.io.objects
  • pyniryo2.led_ring.enums
  • pyniryo2.led_ring.led_ring
  • pyniryo2.led_ring.objects
  • pyniryo2.niryo_robot
  • pyniryo2.niryo_ros
  • pyniryo2.niryo_topic
  • pyniryo2.objects
  • pyniryo2.pick_place.pick_place
  • pyniryo2.saved_poses.saved_poses
  • pyniryo2.sound.enums
  • pyniryo2.sound.sound
  • pyniryo2.tool.enums
  • pyniryo2.tool.tool
  • pyniryo2.trajectories.trajectories
  • pyniryo2.vision.enums
  • pyniryo2.vision.vision

© Copyright 2024, Niryo All rights reserved. No part of this document may be reproduced or transmitted in any form or by any means without prior written consent of Niryo SAS.

Built with Sphinx using a theme provided by Read the Docs.
  Other versions   v: v1.0.0
Tags
v1.0.1
v1.0.0
Search