PyNiryo2 Documentation
================================

.. image:: images/PyNiryo_logo_2.png
   :width: 600px
   :align: center

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.. toctree::
   :hidden:
   other/deprecated

.. admonition:: 🚨 **Project Deprecated** 🚨
    :class: warning

    **This project is officially marked as deprecated and will no longer be maintained or receive updates starting 1st June 2025. We recommend users migrate to** `PyNiryo <https://github.com/NiryoRobotics/pyniryo>`_. **To learn more about the deprecation, please refer to the** :doc:`other/deprecated`.

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This documentation presents Ned's PyPi package, which is the second version of the python API Pyniryo for the robots:
Niryo One, Ned and Ned2. It is based on the roslibpy library and allows a more complete programming of the robots.

It offers a simple way for developers to create programs for robot and
to control them via remote communication from their computers.
Contrary to the Python ROS Wrapper, the user will not need to be connected on the robot
through a terminal.
This API is based on `roslibpy <https://roslibpy.readthedocs.io/en/latest/index.html>`_.

.. note:: This package is able to control Ned in simulation
   as well as the physical robot.

.. figure:: images/niryo_ned_front.jpg
   :alt: Niryo Ned
   :height: 400px
   :align: center

   Niryo Ned

.. list-table::
   :header-rows: 1
   :widths: auto
   :stub-columns: 0
   :align: center

   *  - Functionality
      - PyNiryo
      - PyNiryo2
   *  - Robot control
      - **YES**
      - **YES**
   *  - Callbacks functions
      - **NO**
      - **YES**
   *  - Parallelism of commands
      - **NO**
      - **YES**
   *  - Asynchronous functions
      - **NO**
      - **YES**


Before getting started
----------------------------


| If you haven’t already done so , make sure to learn about
 the ROS robot software by reading the |ros_doc|_.

| This documentation also contains everything you need to
 know if you want to use Ned through simulation.


Sections organization
-----------------------------------

This document is organized in 4 main sections

Setup
^^^^^^^^^^^

Install & Setup your environment in order to use Ned with PyNiryo2.

Firstly, follow :doc:`Installation instructions <setup/installation>`,
then :doc:`find your Robot IP address <setup/ip_address>` to be ready.

.. toctree::
   :caption: Setup
   :hidden:

   setup/installation
   setup/ip_address
   setup/verify_setup

Examples
^^^^^^^^^^^^^^^

Learn how to use the PyNiryo2 package to implement various tasks

.. toctree::
   :hidden:
   :caption: Examples

   examples/examples_basics
   examples/examples_movement
   examples/examples_tool_action
   examples/examples_conveyor
   examples/examples_vision
   examples/examples_frames
   examples/code_templates

API Documentation
^^^^^^^^^^^^^^^^^^^^^^^^^^^

Master controls with PyNiryo2 with full detailed functions
:doc:`here <api_doc/niryo_robot>`

.. toctree::
   :caption: API Documentation

   api_doc/niryo_robot
   api_doc/niryo_topics
   api_doc/niryo_ros
   api_doc/arm
   api_doc/tool
   api_doc/vision
   api_doc/io
   api_doc/conveyor
   api_doc/saved_poses
   api_doc/pick_place
   api_doc/trajectories
   api_doc/frames
   api_doc/led_ring
   api_doc/sound




Indices and tables
==================

* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`

.. |ros_doc| replace:: Ned's Software documentation
.. _ros_doc: https://docs.niryo.com/dev/ros