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
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