Examples: Basics

In this file, two short programs are implemented & commented in order to help you understand the philosophy behind the PyNiryo package

Danger

If you are using the real robot, make sure the environment around it is clear

Your first move joint

The following example shows a first use case. It’s a simple MoveJ.

from pyniryo import *

robot = NiryoRobot("10.10.10.10")

robot.calibrate_auto()

robot.move_joints(0.2, -0.3, 0.1, 0.0, 0.5, -0.8)

robot.close_connection()

Code Details - First Move J

First of all, we import the library to be able to access functions

from pyniryo import *

Then, we instantiate the connection and link the variable robot to the robot at the IP Address 10.10.10.10

robot = NiryoRobot("10.10.10.10")

Once the connection is done, we calibrate the robot using its calibrate_auto() function

robot.calibrate_auto()

As the robot is now calibrated, we can do a Move Joints by giving the 6 axis positions in radians! To do so, we use move_joints()

robot.move_joints(0.2, -0.3, 0.1, 0.0, 0.5, -0.8)

Our process is now over, we can close the connection with quit()

robot.close_connection()

Your first pick and place

In the second example, we are going to develop a pick and place algorithm

from pyniryo import *

robot = NiryoRobot("10.10.10.10")

robot.calibrate_auto()
robot.update_tool()

robot.release_with_tool()
robot.move_pose(0.2, -0.1, 0.25, 0.0, 1.57, 0.0)
robot.grasp_with_tool()

robot.move_pose(0.2, 0.1, 0.25, 0.0, 1.57, 0.0)
robot.release_with_tool()

robot.close_connection()

Code Details - First Pick And Place

First of all, we import the library and start the connection between our computer and the robot. We also calibrate the robot

from pyniryo import *

robot = NiryoRobot("10.10.10.10")
robot.calibrate_auto()

Then, we equip the tool with update_tool()

robot.update_tool()

Now that our initialization is done, we can open the gripper (or push air from the vacuum) with release_with_tool(), go to the picking pose via move_pose() & then catch an object with grasp_with_tool() !

robot.release_with_tool()
robot.move_pose(0.2, -0.1, 0.25, 0.0, 1.57, 0.0)
robot.grasp_with_tool()

We now get to the place pose, and place the object

robot.move_pose(0.2, 0.1, 0.25, 0.0, 1.57, 0.0)
robot.release_with_tool()

Our process is now over, we can close the connection

robot.close_connection()

Notes

You may not have fully understood how to move the robot and use PyNiryo and that is totally fine because you will find more details on the next examples page !
The important thing to remember from this page is how to import the library, connect to the robot & call functions