Python ROS Wrapper documentation ===================================== This file presents the different Functions, Classes & Enums available with the API. .. contents:: :local: :depth: 1 API functions ------------------------------------ | This class allows you to control the robot via internal API. | By controlling, we mean: - Moving the robot. - Using Vision. - Controlling Conveyors Belt. - Playing with hardware. List of functions subsections: .. contents:: :local: :depth: 1 .. automodule:: niryo_robot_python_ros_wrapper.ros_wrapper :members: NiryoRosWrapper Main purpose functions ^^^^^^^^^^^^^^^^^^^^^^^^^^ .. autoclass:: NiryoRosWrapper :members: calibrate_auto, calibrate_manual, get_learning_mode, set_learning_mode, set_arm_max_velocity :member-order: bysource Joints & Pose ^^^^^^^^^^^^^ .. autoclass:: NiryoRosWrapper :members: get_joints, get_pose, get_pose_as_list, move_joints, move_to_sleep_pose, move_pose, move_linear_pose, shift_pose, shift_linear_pose, set_jog_use_state, jog_joints_shift, jog_pose_shift, forward_kinematics, inverse_kinematics :member-order: bysource Saved poses ^^^^^^^^^^^^^ .. autoclass:: NiryoRosWrapper :members: move_pose_saved, get_pose_saved, save_pose, delete_pose, get_saved_pose_list :member-order: bysource Pick & place ^^^^^^^^^^^^^ .. autoclass:: NiryoRosWrapper :members: pick_from_pose, place_from_pose, pick_and_place :member-order: bysource Trajectories ^^^^^^^^^^^^^ .. autoclass:: NiryoRosWrapper :members: execute_trajectory_from_poses, execute_trajectory_saved, get_trajectory_saved, save_trajectory, delete_trajectory, get_saved_trajectory_list :member-order: bysource Tools ^^^^^^^^^^^^^ .. autoclass:: NiryoRosWrapper :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 :member-order: bysource Hardware ^^^^^^^^^^^^^ .. autoclass:: NiryoRosWrapper :members: set_pin_mode, digital_write, digital_read, get_hardware_status, get_digital_io_state :member-order: bysource Conveyor Belt ^^^^^^^^^^^^^ .. autoclass:: NiryoRosWrapper :members: set_conveyor, unset_conveyor, control_conveyor :member-order: bysource Vision ^^^^^^^^^^^^^ .. autoclass:: NiryoRosWrapper :members: get_compressed_image, get_target_pose_from_rel, get_target_pose_from_cam, vision_pick_w_obs_joints, vision_pick_w_obs_pose, vision_pick, move_to_object, detect_object, get_camera_intrinsics, save_workspace_from_poses, save_workspace_from_points, delete_workspace, get_workspace_ratio, get_workspace_list, get_workspace_poses :member-order: bysource Enums ------------------------------------ .. automodule:: niryo_robot_python_ros_wrapper.ros_wrapper_enums :members: :undoc-members: :exclude-members: CommandEnum :member-order: bysource