Pick & Place

This file presents the different Pick & Place - Command functions available with the Pick & Place API

Pick & Place - Command functions

This section reference all existing functions to control your robot, which include

  • Picking objects

  • Placing objects

All functions to control the robot are accessible via an instance of the class NiryoRobot

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])
...

See examples on Examples Section

List of functions subsections:

Pick & Place functions

class PickPlace(client, arm=None, tool=None, trajectories=None)[source]
pick_from_pose(*args)[source]

Execute a picking from a pose.

A picking is described as :

* going over the object
* going down until height = z
* grasping with tool
* going back over the object
Parameters

args (Union[list[float], tuple[float], PoseObject]) – either 6 args (1 for each coordinates) or a list of 6 coordinates or a PoseObject

Return type

None

place_from_pose(*args)[source]

Execute a placing from a position.

A placing is described as :

* going over the place
* going down until height = z
* releasing the object with tool
* going back over the place
Parameters

args (Union[list[float], tuple[float], PoseObject]) – either 6 args (1 for each coordinates) or a list of 6 coordinates or a PoseObject

Return type

None

pick_and_place(pick_pose, place_pose, dist_smoothing=0.0)[source]

Execute a pick then a place

Parameters

  • pick_pose (Union[list[float], PoseObject]) – Pick Pose : [x, y, z, roll, pitch, yaw] or PoseObject

  • place_pose (Union[list[float], PoseObject]) – Place Pose : [x, y, z, roll, pitch, yaw] or PoseObject

  • dist_smoothing (float) – Distance from waypoints before smoothing trajectory

Return type

None