PyNiryo API Documentation ===================================== This file presents the different :ref:`source/api_doc/api:Command Functions`, :ref:`source/api_doc/api:Enums` & :ref:`source/api_doc/api:Python Object classes` available with the API * :ref:`source/api_doc/api:Command Functions` are used to deal directly with the robot. It could be :meth:`~.api.tcp_client.NiryoRobot.move_joints`, :meth:`~.api.tcp_client.NiryoRobot.get_hardware_status` :meth:`~.api.tcp_client.NiryoRobot.vision_pick`, or also :meth:`~.api.tcp_client.NiryoRobot.run_conveyor` * :ref:`source/api_doc/api:Enums` are used to pass specific arguments to functions. For instance :class:`~.api.enums_communication.PinState`, :class:`~.api.enums_communication.ConveyorDirection`, ... * :ref:`source/api_doc/api:Python Object classes`, as |pose_object|, ease some operations Command functions ------------------------------------ This section references all existing functions to control your robot, which includes - Moving the robot - Using Vision - Controlling Conveyor Belts - Playing with Hardware All functions to control the robot are accessible via an instance of the class :class:`~.api.enums_communication.NiryoRobot` :: robot = NiryoRobot() See examples on :ref:`source/examples/examples_basics:Examples: Basics` List of functions subsections: .. contents:: :local: :depth: 1 .. py:currentmodule:: api.tcp_client TCP Connection ^^^^^^^^^^^^^^^^^^^^ .. autoclass:: NiryoRobot :members: connect, close_connection :noindex: Main purpose functions ^^^^^^^^^^^^^^^^^^^^^^^^^^ .. autoclass:: NiryoRobot :members: calibrate, calibrate_auto, need_calibration, get_learning_mode, set_learning_mode, set_arm_max_velocity, set_jog_control, wait :member-order: bysource :noindex: Joints & Pose ^^^^^^^^^^^^^ .. autoclass:: NiryoRobot :members: get_joints, get_pose, get_pose_quat, move_joints, move_pose, move_linear_pose, shift_pose, shift_linear_pose, jog_joints, jog_pose, move_to_home_pose, go_to_sleep, forward_kinematics, inverse_kinematics :member-order: bysource :noindex: Saved Poses ^^^^^^^^^^^^^ .. autoclass:: NiryoRobot :members: get_pose_saved, save_pose, delete_pose, get_saved_pose_list :member-order: bysource :noindex: Pick & Place ^^^^^^^^^^^^^ .. autoclass:: NiryoRobot :members: pick_from_pose, place_from_pose, pick_and_place :member-order: bysource :noindex: Trajectories ^^^^^^^^^^^^^ .. autoclass:: NiryoRobot :members: get_trajectory_saved, execute_trajectory_from_poses, execute_trajectory_saved, save_trajectory, delete_trajectory, get_saved_trajectory_list :member-order: bysource :noindex: Tools ^^^^^^^^^^^^^ .. autoclass:: NiryoRobot :members: get_current_tool_id, update_tool, grasp_with_tool,release_with_tool, open_gripper, close_gripper, pull_air_vacuum_pump, push_air_vacuum_pump, setup_electromagnet, activate_electromagnet, deactivate_electromagnet, enable_tcp, set_tcp, reset_tcp, tool_reboot :member-order: bysource :noindex: Hardware ^^^^^^^^^^^^^ .. autoclass:: NiryoRobot :members: set_pin_mode, digital_write, digital_read, get_hardware_status, get_digital_io_state :member-order: bysource :noindex: Conveyor ^^^^^^^^^^^^^ .. autoclass:: NiryoRobot :members: set_conveyor, unset_conveyor, run_conveyor, stop_conveyor, control_conveyor, get_connected_conveyors_id :member-order: bysource :noindex: Vision ^^^^^^^^^^^^^ .. autoclass:: NiryoRobot :members: get_img_compressed, set_brightness, set_contrast, set_saturation, get_image_parameters, get_target_pose_from_rel, get_target_pose_from_cam, vision_pick, move_to_object, detect_object, get_camera_intrinsics, save_workspace_from_robot_poses, save_workspace_from_points, delete_workspace, get_workspace_ratio, get_workspace_list :member-order: bysource :noindex: Enums ------------------------------------ Enums are used to pass specific parameters to functions. For instance, :meth:`~.api.tcp_client.NiryoRobot.change_tool` will need a parameter from :class:`~.api.objects.ToolID` enum :: robot.change_tool(ToolID.GRIPPER_1) List of enums: * :class:`~.api.objects.CalibrateMode` * :class:`~.api.objects.RobotAxis` * :class:`~.api.objects.ToolID` * :class:`~.api.objects.PinMode` * :class:`~.api.objects.PinState` * :class:`~.api.objects.PinID` * :class:`~.api.objects.ConveyorID` * :class:`~.api.objects.ConveyorDirection` * :class:`~.api.objects.ObjectColor` * :class:`~.api.objects.ObjectShape` .. automodule:: api.enums_communication :members: :undoc-members: :exclude-members: Command :member-order: bysource :noindex: .. undoc-members -> allow to see members of enums .. show-inheritance -> display enum.Enum Python object classes ------------------------------------ Special objects .. automodule:: api.objects :members: :no-undoc-members: :member-order: bysource :noindex: .. |pose_object| replace:: :class:`~.api.objects.PoseObject`