September release - New features batch¶
Features¶
Niryo Studio¶
Direct control¶
Jog Pose.
Control the pose of the robot in position and orientation. The arrows show the direction of the translation and rotation command to apply to the robot’s pose. You can adjust the command speed.
Jog Joints.
Control the joints of the robot in orientation. The arrows show the direction of the rotation command to apply to a joint. You can adjust the command speed.
State and 3D View¶
Frames visualization.
Visualize the TCP and the robot base frames. You can select which frames you want to display.
Programming¶
Try Except block in Logic group.
The function will try to run what is inside of it. A number of attempts can be set to repeat the operation if the robot failed to do it. You can set the function to continue or stop the program if the attempts do not succeed.
Linear and Try Linear in Move Pose block, in Movement group.
Linear function makes the robot move linearly. Try Linear function makes the robot move linearly but if no linear trajectory can be computed, it will do a Standard movement.
Linear and Try Linear in Shift pose block, in Movement group.
Linear function makes the robot do a translation movement linearly. Try linear makes the robot do a translation movement linearly but if no linear trajectory can be computed, it will do a Standard movement.
Move Trajectory function in Movement group.
This function builds a trajectory by giving it waypoints. The robot will try to reach way points in the given order. The distance smoothing parameter defines the distance from which the trajectory will be smoothed around each way point.
Set TCP block in Tool group.
This function changes the TCP (Tool Center Point) coordinates of the robot. TCP coordinates are used with Pose-type movements.
Activate/Deactivate TCP block in Tool group.
This function activates or deactivates TCP coordinates. When activated, TCP coordinates are defined by the user. When deactivated, the TCP coordinates are equal to the final point of the robot’s arm.
Settings¶
Angles unit selection.
Angles unit selection between degree and radian from the top bar.
Setup TCP coordinates from Robot’s settings view.
Change TCP (Tool Center Point) coordinates. TCP coordinates are used as references for Pose movements. Activate TCP allows the modification of the TCP coordinates. Scan will check if a tool is attached to the arm and will update the TCP coordinates according to the connected tool. Reset will reset the TCP coordinates to the actual tool (0 if no tool). You can manually modify the TCP coordinates by writing your orientation and translation. Click Apply to apply the new coordinates.
Saved positions¶
Play position
Move to the desired position from position list by clicking on the Play button.
Vision set¶
Camera’s settings
Brightness, saturation and contrast adjustments for the camera.
ROS packages¶
Tool commander package¶
TCP service settings
TCP.msg
SetTCP.srv
Arm commander package¶
New movements available in ArmMoveCommand.msg
linear pose
shift linear pose
trajectory
Python ROS Wrapper package¶
New movement functions available
move linear pose
linear pose
jog pose shift
jog joints shift
shift linear pose
execute trajectory from pose
New TCP functions available
set_tcp
enable_tcp
reset_tcp
New camera settings functions available
set_brightness
set_contrast
set_saturation
Python API¶
New TCP functions available
set_tcp
enable_tcp
reset_tcp
New movement functions available
move linear pose
linear pose
jog pose shift
jog joints shift
shift linear pose
execute trajectory from pose
New camera settings functions available
set_brightness
set_contrast
set_saturation
Modbus¶
New TCP registers
Enable TCP at address 600
Set TCP at address 601
New movement registers
Linear pose command at address 102
Improvements¶
Niryo Studio¶
Programming¶
Graphical improvement of save program function in the Blockly program view.
Graphical improvement of Load program from robot function in the Blockly program view.
Remove Clear workspace in the Blockly program view.
Graphical improvement of Add position function in the Blockly program view.
ROS packages¶
Refactoring Tool Commander and Robot Commander packages.
Remove Robot Commander package
Reorder Robot Commander package between Tool Commander and Arm Commander packages.
Self collision detection
Add self-collision detection via MoveIt.
Collision detection
Collision detection improvement on each joints.
Learning mode activation in case of a collision.
Modbus¶
Add Set Vision registers