# - Imports
from __future__ import print_function
# Python libraries
import time
# Communication imports
from .arm.arm import Arm
from .conveyor.conveyor import Conveyor
from .io.io import IO
from .pick_place.pick_place import PickPlace
from .saved_poses.saved_poses import SavedPoses
from .tool.tool import Tool
from .trajectories.trajectories import Trajectories
from .vision.vision import Vision
from .led_ring.led_ring import LedRing
from .sound.sound import Sound
from .frames.frames import Frames
from .niryo_ros import NiryoRos
[docs]class NiryoRobot(object):
def __init__(self, ip_address="127.0.0.1", port=9090):
"""
Connect your robot to your computer: ::
robot_simulation = NiryoRobot("127.0.0.1") # Simulation
robot_hotpot = NiryoRobot("10.10.10.10") # Hotspot
robot_ethernet = NiryoRobot("169.254.200.201") # Ethernet
:param ip_address: robot ROS ip
:type ip_address: str
:param port: robot ROS port
:type port: int
"""
self.__host = ip_address
self.__port = port
self.__client = NiryoRos(ip_address, port)
self.__vision = None
self.__pick_place = None
self.__trajectories = None
self.__tool = None
self.__sound = None
self.__saved_poses = None
self.__io = None
self.__conveyor = None
self.__arm = None
self.__led_ring = None
self.__frames = None
self.__arm = Arm(self.__client)
self.__conveyor = Conveyor(self.__client)
self.__io = IO(self.__client)
self.__saved_poses = SavedPoses(self.__client)
self.__sound = Sound(self.__client)
self.__tool = Tool(self.__client)
self.__trajectories = Trajectories(self.__client)
self.__frames = Frames(self.__client)
self.__pick_place = PickPlace(self.__client, self.__arm, self.__tool, self.__trajectories)
self.__vision = Vision(self.__client, self.__arm, self.__tool)
self.__led_ring = LedRing(self.__client)
def __del__(self):
del self.__vision
del self.__pick_place
del self.__trajectories
del self.__tool
del self.__sound
del self.__saved_poses
del self.__io
del self.__conveyor
del self.__arm
del self.__frames
self.end()
def __str__(self):
return "Niryo Robot"
def __repr__(self):
return self.__str__()
@property
def client(self):
"""
Get the Niryo Ros client
:return: NiryoRos client
:rtype: NiryoRos
"""
return self.__client
[docs] def end(self):
"""
Disconnect from your robot and ROS: ::
# Start
robot = NiryoRobot("10.10.10.10")
# End
robot.end()
:rtype: None
"""
if self.__client is not None and self.__client.is_connected:
self.__client.close()
[docs] @staticmethod
def wait(duration):
"""
Wait for a certain time
:param duration: duration in seconds
:type duration: float
:rtype: None
"""
time.sleep(duration)
@property
def arm(self):
"""
Access to the Arm API
Example: ::
robot = NiryoRobot(<robot_ip_address>)
robot.arm.calibrate_auto()
robot.arm.move_joints([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
:rtype: Arm
"""
return self.__arm
@property
def conveyor(self):
"""
Access to the Conveyor API
Example: ::
robot = NiryoRobot(<robot_ip_address>)
conveyor_id = robot.conveyor.set_conveyor()
robot.conveyor.run_conveyor(conveyor_id)
:rtype: Conveyor
"""
return self.__conveyor
@property
def io(self):
"""
Access to the I/Os API
Example: ::
robot = NiryoRobot(<robot_ip_address>)
robot.io.set_pin_mode(PinID.GPIO_1A, PinMode.INPUT)
robot.io.digital_write(PinID.GPIO_1A, PinState.HIGH)
:rtype: IO
"""
return self.__io
@property
def pick_place(self):
"""
Access to the PickPlace API
Example: ::
robot = NiryoRobot(<robot_ip_address>)
robot.pick_place.pick_from_pose([0.2, 0.0, 0.1, 0.0, 1.57, 0.0])
robot.pick_place.place_from_pose([0.0, 0.2, 0.1, 0.0, 1.57, 0.0])
:rtype: PickPlace
"""
return self.__pick_place
@property
def saved_poses(self):
"""
Access to the SavedPoses API
Example: ::
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])
:rtype: SavedPoses
"""
return self.__saved_poses
@property
def sound(self):
"""
Access to the Sound API
Example: ::
robot = NiryoRobot(<robot_ip_address>)
sound.play_sound_user("test_sound.wav")
sound_name = sound.get_sounds()[0]
sound_duration = sound.play(sound_name)
:rtype: Sound
"""
return self.__sound
@property
def tool(self):
"""
Access to the Tool API
Example: ::
robot = NiryoRobot(<robot_ip_address>)
robot.tool.update_tool()
robot.tool.grasp_with_tool()
robot.tool.release_with_tool()
:rtype: Tool
"""
return self.__tool
@property
def trajectories(self):
"""
Access to the Trajectories API
Example: ::
robot = NiryoRobot(<robot_ip_address>)
trajectories = robot.trajectories.get_saved_trajectory_list()
if len(trajectories) > 0:
robot.trajectories.execute_trajectory_saved(trajectories[0])
:rtype: Trajectories
"""
return self.__trajectories
@property
def vision(self):
"""
Access to the Vision API
Example: ::
robot = NiryoRobot(<robot_ip_address>)
robot.vision.vision_pick("workspace_1", 0.0, ObjectShape.ANY, ObjectColor.ANY)
robot.vision.detect_object("workspace_1", ObjectShape.ANY, ObjectColor.ANY)
:rtype: Vision
"""
return self.__vision
@property
def led_ring(self):
"""
Access to the Led Ring API
Example: ::
robot = NiryoRobot(<robot_ip_address>)
niryo_robot.led_ring.led_ring_flash([20,255,78], iterations = 10, wait = True, frequency = 8)
niryo_robot.led_ring.led_ring_turn_off()
:rtype: LedRing
"""
return self.__led_ring
@property
def frames(self):
"""
Access to the frame API
Example: ::
robot = NiryoRobot(<robot_ip_address>)
:rtype: Frames
"""
return self.__frames
