Saved poses

This file presents the different api_doc/saved_poses: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 api_doc/niryo_robot: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 pyniryo2.saved_poses.saved_poses.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]

Saved poses

Saved poses - Command functions

Saved poses functions

Saved poses functions 