Saved poses

This file presents the different Saved poses - Command functions, available with the Saved poses API

Saved poses - Command functions

This section reference all existing functions to control your robot, which include

• Management of saved poses

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

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])
...

See examples on Examples Section

List of functions subsections:

Saved poses functions

class SavedPoses(client)

get_pose_saved(pose_name)

Get pose saved in from Ned’s memory

Examples:

pose = saved_poses.get_pose_saved("pose1")

Parameters:

pose_name (str) – Pose name in robot’s memory

Returns:

Pose associated to pose_name

Return type:

PoseObject

save_pose(pose_name, *args)

Save pose (x, y, z, roll, pitch, yaw) in robot’s memory

Examples:

saved_poses.save_pose("pose1", 0.3, 0.0, 0.3, 0.0, 1.57, 0.0)
saved_poses.save_pose("pose1", [0.3, 0.0, 0.3, 0.0, 1.57, 0.0])
saved_poses.save_pose("pose1", PoseObject(0.3, 0.0, 0.3, 0.0, 1.57, 0.0))

Parameters:

args (Union[list[float], tuple[float], PoseObject]) – either 6 args (1 for each coordinates) or a list of 6 coordinates or a PoseObject

Return type:

None

delete_pose(pose_name)

Delete pose from robot’s memory

Examples:

if "pose1" in saved_poses.get_saved_pose_list():
    saved_poses.delete_pose("pose1")

Return type:

None

get_saved_pose_list()

Get list of poses’ name saved in robot memory

Examples:

>> print(saved_poses.get_saved_pose_list())
["pose1", "pose2", "pose3"]

Return type:

list[str]