Code templates

As code structures are always the same, we wrote down few templates for you to start your code file with a good form

The short template

Very simple, straightforward

from pyniryo2 import *

# Connect to robot & calibrate
robot = NiryoRobot(<robot_ip_address>)
robot.arm.calibrate_auto()

# --- --------- --- #
# --- YOUR CODE --- #
# --- --------- --- #

Advanced template

This template let the user defined his own process but it handles connection, calibration, tool equipping, and make the robot go to sleep at the end

from pyniryo2 import *

local_mode = False # Or True
tool_used = ToolID.GRIPPER_1
# Set robot address
robot_ip_address_rpi = "x.x.x.x"
robot_ip_address_local = "127.0.0.1"

robot_ip_address = robot_ip_address_local if local_mode else robot_ip_address_rpi


def process(niryo_edu):
    # --- --------- --- #
    # --- YOUR CODE --- #
    # --- --------- --- #

if __name__ == '__main__':
    # Connect to robot
    robot = NiryoRobot(robot_ip_address)
    # Calibrate robot if robot needs calibration
    robot.arm.calibrate_auto()
    # Equip tool
    robot.tool.update_tool()
    # Launching main process
    process(client)
    # Ending
    robot.arm.go_to_sleep()

Advanced template for conveyor

Same as Advanced template but with a conveyor

from pyniryo2 import *

# Set robot address
robot_ip_address = "x.x.x.x"


def process(robot, conveyor_id):
    robot.conveyor.run_conveyor(conveyor_id)

    # --- --------- --- #
    # --- YOUR CODE --- #
    # --- --------- --- #

    robot.conveyor.stop_conveyor()


if __name__ == '__main__':
    # Connect to robot
    robot = NiryoRobot(robot_ip_address)
    # Calibrate robot if robot needs calibration
    robot.arm.calibrate_auto()
    # Equip tool
    robot.tool.update_tool()
    # Activating connexion with conveyor
    conveyor_id = robot.conveyor.set_conveyor()
    # Launching main process
    process(robot, conveyor_id)
    # Ending
    robot.arm.go_to_sleep()
    # Deactivating connexion with conveyor
    robot.conveyor.unset_conveyor(conveyor_id)

Advanced template for vision

Huge template for vision users !

from pyniryo2 import *

local_mode = False # Or True
workspace_name = "workspace_1"  # Robot's Workspace Name
# Set robot address
robot_ip_address_rpi = "x.x.x.x"
robot_ip_address_local = "127.0.0.1"

robot_ip_address = robot_ip_address_local if local_mode else robot_ip_address_rpi

# The pose from where the image processing happens
observation_pose = PoseObject(
    x=0.18, y=0.0, z=0.35,
    roll=0.0, pitch=1.57, yaw=-0.2,
)

# Center of the conditioning area
place_pose = PoseObject(
    x=0.0, y=-0.23, z=0.12,
    roll=0.0, pitch=1.57, yaw=-1.57
)

def process(robot):
    robot.arm.move_pose(observation_pose)
    catch_count = 0
    while catch_count < 3:
        ret = robot.vision.get_target_pose_from_cam(workspace_name,
                                                    height_offset=0.0,
                                                    shape=ObjectShape.ANY,
                                                    color=ObjectColor.ANY)
        obj_found, obj_pose, shape, color = ret
        if not obj_found:
            continue
        catch_count += 1
        # --- --------- --- #
        # --- YOUR CODE --- #
        # --- --------- --- #
        robot.pick_place.place_from_pose(place_pose)

if __name__ == '__main__':
    # Connect to robot
    robot = NiryoRobot(robot_ip_address)
    # Calibrate robot if robot needs calibration
    robot.arm.calibrate_auto()
    # Equip tool
    robot.tool.update_tool()
    # Launching main process
    process(client)
    # Ending
    robot.arm.go_to_sleep()

Callbacks Templates

Template for event integration !

# Imports
from pyniryo2 import *
from threading import Event

robot_ip = "xxx.xxx.xxx.xxx"
robot_ip_address_local = "127.0.0.1"

# Events
update_tool_event = Event()
update_tool_event.clear()

calibrated_event = Event()
calibrated_event.clear()

# Poses
pose_1 = PoseObject()

pose_2 = PoseObject()

# Callbacks
def update_tool_success_callback(result):
    update_tool_event.set()
    print 'Update Tool: ', result['message']

def update_tool_error_callback(result):
    print 'Update Tool: ', result['message']

def calibrate_success_callback(result):
    calibrated_event.set()
    print 'Calibrate Callback: ', result["message"]

def calibrate_error_callback(result):
    print 'Calibrate Callback: ', result["message"]

    """
    Add Callbacks Here
    """

def action_function(robot):

    """
    Don't put niryo_robot in parameter, it will take the pyniryo2 package
    add your function here
    """


if __name__ == "__main__":

    # Connect to robot
    robot = NiryoRobot(robot_ip)

    # Calibrate robot if robot needs calibration
    robot.arm.calibrate_auto(callback=calibrate_success_callback, errback=calibrate_error_callback)
    calibrated_event.wait(20)
    if not calibrated_event.is_set():
        quit

    robot.tool.update_tool(callback=update_tool_success_callback, errback=update_tool_error_callback)
    update_tool_event.wait()

    action_function(robot)

    robot.arm.go_to_sleep()