NiryoRobot

The NiryoRobot class includes the different APIs of the PyNiryo2 library. It allows the connection of the program to the robot via roslibpy. This interface facilitates and centralizes all the control functions of the Niryo environment and products.

NiryoRobot - Command functions

This section reference all existing functions of the NiryoRobot client, which include

Connecting to your Ned
Disconnecting from your Ned
Waiting
Access to the entire PyNiryo2 API

NiryoRobot

All functions to control the robot are accessible via an instance of the class NiryoRobot

robot = NiryoRobot(<robot_ip_address>)

robot.run("10.10.10.10")
robot.wait(2) # wait 2 seconds
robot.end()

See examples on Examples Section

List of functions subsections:

NiryoRobot functions 

class NiryoRobot(ip_address='127.0.0.1', port=9090)[source]

property client

Get the Niryo Ros client

Returns:: NiryoRos client
Return type:: NiryoRos

end()[source]

Disconnect from your robot and ROS:

# Start
robot = NiryoRobot("10.10.10.10")

# End
robot.end()

Return type:: None

static wait(duration)[source]

Wait for a certain time

Parameters:: duration (float) – duration in seconds
Return type:: None

NiryoRobot properties 

class NiryoRobot(ip_address='127.0.0.1', port=9090)[source]

property arm

Access to the Arm API

Example:

robot = NiryoRobot(<robot_ip_address>)
robot.arm.calibrate_auto()
robot.arm.move_joints([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])

Return type:: Arm

property conveyor

Access to the Conveyor API

Example:

robot = NiryoRobot(<robot_ip_address>)
conveyor_id = robot.conveyor.set_conveyor()
robot.conveyor.run_conveyor(conveyor_id)

Return type:: Conveyor

property io

Access to the I/Os API

Example:

robot = NiryoRobot(<robot_ip_address>)
robot.io.set_pin_mode(PinID.GPIO_1A, PinMode.INPUT)
robot.io.digital_write(PinID.GPIO_1A, PinState.HIGH)

Return type:: IO

property pick_place

Access to the PickPlace API

Example:

robot = NiryoRobot(<robot_ip_address>)
robot.pick_place.pick_from_pose([0.2, 0.0, 0.1, 0.0, 1.57, 0.0])
robot.pick_place.place_from_pose([0.0, 0.2, 0.1, 0.0, 1.57, 0.0])

Return type:: PickPlace

property saved_poses

Access to the SavedPoses API

Example:

robot = NiryoRobot(<robot_ip_address>)
pose_name_list = robot.saved_poses.get_saved_pose_list()
robot.saved_poses.get_pose_saved(pose_name_list[0])

Return type:: SavedPoses

property sound

Access to the Sound API

Example:

robot = NiryoRobot(<robot_ip_address>)
sound.play_sound_user("test_sound.wav")
sound_name = sound.get_sounds()[0]
sound_duration = sound.play(sound_name)

Return type:: Sound

property tool

Access to the Tool API

Example:

robot = NiryoRobot(<robot_ip_address>)
robot.tool.update_tool()
robot.tool.grasp_with_tool()
robot.tool.release_with_tool()

Return type:: Tool

property trajectories

Access to the Trajectories API

Example:

robot = NiryoRobot(<robot_ip_address>)
trajectories = robot.trajectories.get_saved_trajectory_list()
if len(trajectories) > 0:
    robot.trajectories.execute_trajectory_saved(trajectories[0])

Return type:: Trajectories

property vision

Access to the Vision API

Example:

robot = NiryoRobot(<robot_ip_address>)
robot.vision.vision_pick("workspace_1", 0.0, ObjectShape.ANY, ObjectColor.ANY)
robot.vision.detect_object("workspace_1", ObjectShape.ANY, ObjectColor.ANY)

Return type:: Vision

property led_ring

Access to the Led Ring API

Example:

robot = NiryoRobot(<robot_ip_address>)
niryo_robot.led_ring.led_ring_flash([20,255,78], iterations = 10, wait = True, frequency = 8)
niryo_robot.led_ring.led_ring_turn_off()

Return type:: LedRing

property frames

Access to the frame API

Example:

robot = NiryoRobot(<robot_ip_address>)

Return type:: Frames

Globals Enums

List of enums:

RobotErrors
ArmMoveCommandType

class RobotErrors(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)[source]

SUCCESS = 1

CANCELLED = 2

PREEMPTED = 3

FAILURE = -1

ABORTED = -3

STOPPED = -4

ROS_ERROR = -20

FILE_ALREADY_EXISTS = -30

UNKNOWN_COMMAND = -50

NOT_IMPLEMENTED_COMMAND = -51

INVALID_PARAMETERS = -52

HARDWARE_FAILURE = -110

HARDWARE_NOT_OK = -111

LEARNING_MODE_ON = -112

CALIBRATION_NOT_DONE = -113

DIGITAL_IO_PANEL_ERROR = -114

LED_MANAGER_ERROR = -115

BUTTON_ERROR = -116

WRONG_MOTOR_TYPE = -117

DXL_WRITE_ERROR = -118

DXL_READ_ERROR = -119

CAN_WRITE_ERROR = -120

CAN_READ_ERROR = -121

NO_CONVEYOR_LEFT = -122

NO_CONVEYOR_FOUND = -123

CONVEYOR_ID_INVALID = -124

CALIBRATION_IN_PROGRESS = -125

VIDEO_STREAM_ON_OFF_FAILURE = -170

VIDEO_STREAM_NOT_RUNNING = -171

OBJECT_NOT_FOUND = -172

MARKERS_NOT_FOUND = -173

ARM_COMMANDER_FAILURE = -220

GOAL_STILL_ACTIVE = -221

JOG_CONTROLLER_ENABLED = -222

CONTROLLER_PROBLEMS = -223

SHOULD_RESTART = -224

JOG_CONTROLLER_FAILURE = -225

PLAN_FAILED = -230

NO_PLAN_AVAILABLE = -231

INVERT_KINEMATICS_FAILURE = -232

TOOL_FAILURE = -251

TOOL_ID_INVALID = -252

TOOL_NOT_CONNECTED = -253

TOOL_ROS_INTERFACE_ERROR = -254

POSES_HANDLER_CREATION_FAILED = -300

POSES_HANDLER_REMOVAL_FAILED = -301

POSES_HANDLER_READ_FAILURE = -302

POSES_HANDLER_COMPUTE_FAILURE = -303

WORKSPACE_CREATION_FAILED = -308

PROGRAMS_MANAGER_FAILURE = -320

PROGRAMS_MANAGER_READ_FAILURE = -321

PROGRAMS_MANAGER_UNKNOWN_LANGUAGE = -325

PROGRAMS_MANAGER_NOT_RUNNABLE_LANGUAGE = -326

PROGRAMS_MANAGER_EXECUTION_FAILED = -327

PROGRAMS_MANAGER_STOPPING_FAILED = -328

PROGRAMS_MANAGER_AUTORUN_FAILURE = -329

PROGRAMS_MANAGER_WRITING_FAILURE = -330

PROGRAMS_MANAGER_FILE_ALREADY_EXISTS = -331

PROGRAMS_MANAGER_FILE_DOES_NOT_EXIST = -332

SERIAL_FILE_ERROR = -400

SERIAL_UNKNOWN_ERROR = -401

MQTT_PUBLISH_FUNCTION_DOESNT_EXIST = -420

MQTT_PUBLISH_FUNCTION_INVALID_ARGUMENTS = -421

SYSTEM_API_CLIENT_UNKNOWN_ERROR = -440

SYSTEM_API_CLIENT_INVALID_ROBOT_NAME = -441

SYSTEM_API_CLIENT_REQUEST_FAILED = -442

class ArmMoveCommandType(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)[source]

Enumeration of Arm Move Command : it used for move commands

JOINTS = 0

POSE = 1

POSITION = 2

RPY = 3

POSE_QUAT = 4

LINEAR_POSE = 5

SHIFT_POSE = 6

SHIFT_LINEAR_POSE = 7

EXECUTE_TRAJ = 8

DRAW_SPIRAL = 9

DRAW_CIRCLE = 10

EXECUTE_FULL_TRAJ = 11

EXECUTE_RAW_TRAJ = 12

Globals Objects

PoseObject

class PoseObject(x, y, z, roll, pitch, yaw)[source]

Pose object which stores x, y, z, roll, pitch & yaw parameters

Variables:

x (float) – X (meter)
y (float) – Y (meter)
z (float) – Z (meter)
roll (float) – Roll (radian)
pitch (float) – Pitch (radian)
yaw (float) – Yaw (radian)

copy_with_offsets(x_offset=0.0, y_offset=0.0, z_offset=0.0, roll_offset=0.0, pitch_offset=0.0, yaw_offset=0.0)[source]

Create a new pose from copying from copying actual pose with offsets

Return type:: PoseObject

to_list()[source]

Return a list [x, y, z, roll, pitch, yaw] corresponding to the pose’s parameters

Return type:: list[float]

property quaternion

Return the quaternion in a list [qx, qy, qz, qw]

Returns:: quaternion [qx, qy, qz, qw]
Return type:: list[float, float, float, float]

property quaternion_pose

Return the position and the quaternion in a list [x, y, z, qx, qy, qz, qw]

Returns:: position [x, y, z] + quaternion [qx, qy, qz, qw]
Return type:: list[float, float, float, float, float, float, float]

static euler_to_quaternion(roll, pitch, yaw)[source]

Convert euler angles to quaternion

Parameters:

roll (float) – roll in radians
pitch (float) – pitch in radians
yaw (float) – yaw in radians

Returns:

quaternion in a list [qx, qy, qz, qw]

Return type:

list[float, float, float, float]

static quaternion_to_euler_angle(qx, qy, qz, qw)[source]

Convert euler angles to quaternion

Parameters:

qx (float)
qy (float)
qz (float)
qw (float)

Returns:

euler angles in a list [roll, pitch, yaw]

Return type:

list[float, float, float]

NiryoRobot

NiryoRobot - Command functions

NiryoRobot functions

NiryoRobot properties

Globals Enums

Globals Objects

NiryoRobot functions 

NiryoRobot properties 