Tool

This file presents the different Tool - Command Functions, Tool - Enums & Tool - Niryo Topics available with the Tool API

Tool - Command Functions

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

Using tools
Using grippers
Using the vacuum pump
Using the electromagnet
Management of the TCP

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

robot = NiryoRobot(<robot_ip_address>)

robot.tool.update_tool()
robot.tool.grasp_with_tool()
robot.tool.release_with_tool()
...

See examples on Examples Section

List of functions subsections:

Tool functions
Grippers functions
Vacuum pump functions
Electromagnet functions
TCP functions

class Tool(client)[source]

Tool robot functions

Example:

ros_instance = NiryoRos("10.10.10.10") # Hotspot
tool_interface = Tool(ros_instance)

Parameters: client (NiryoRos) – Niryo ROS client

Tool functions 

Tool.update_tool(callback=None, errback=None, timeout=None)[source]

Update equipped tool

Examples:

# Synchronous use
tool.update_tool()

# Asynchronous use
def update_tool_callback(result):
    if result["status"] < RobotErrors.SUCCESS.value:
        print("Update failed")
    else:
        print("Update completed with success")

tool.update_tool(update_tool_callback)

Parameters

callback (function) – Callback invoked on successful execution.
errback (function) – Callback invoked on error.
timeout – Timeout for the operation, in seconds. Only used if blocking.

Return type

None

property Tool.tool

Returns: The equipped tool ID
Return type: ToolID

property Tool.get_current_tool_id

Returns the equipped tool Id client which can be used synchronously or asynchronously to obtain the equipped tool Id. The topic returns a attribute of the ToolID enum.

Examples:

# Get last value
tool.get_current_tool_id()
tool.get_current_tool_id.value

# Subscribe a callback
def tool_id_callback(tool_id_object):
    print tool_id_object

tool.get_current_tool_id.subscribe(tool_id_callback)
tool.get_current_tool_id.unsubscribe()

Returns: the equipped tool Id topic instance.
Return type: NiryoTopic

Tool.grasp_with_tool(callback=None)[source]

Grasp with tool This action correspond to * Close gripper for Grippers * Pull Air for Vacuum pump * Activate for Electromagnet If a callback function is not passed in parameter, the function will be blocking. Otherwise, the callback will be called when the execution of the function is finished.

Examples:

tool.update_tool()
tool.grasp_with_tool()

def tool_callback(_msg)
    print("Grasped") 

tool.grasp_with_tool(callback=tool_callback)

Parameters: callback (function) – Callback invoked on successful execution.
Return type: None

Tool.release_with_tool(callback=None)[source]

Release with tool This action correspond to * Open gripper for Grippers * Push Air for Vacuum pump * Deactivate for Electromagnet If a callback function is not passed in parameter, the function will be blocking. Otherwise, the callback will be called when the execution of the function is finished.

Examples:

tool.update_tool()
tool.release_with_tool()

def tool_callback(_msg)
    print("Released")

tool.release_with_tool(callback=tool_callback)

Parameters: callback (function) – Callback invoked on successful execution.
Return type: None

Grippers functions 

Tool.open_gripper(speed=500, max_torque_percentage=100, hold_torque_percentage=30, callback=None)[source]

Open gripper associated to the equipped gripper. If a callback function is not passed in parameter, the function will be blocking. Otherwise, the callback will be called when the execution of the function is finished.

Examples:

tool.update_tool()
tool.open_gripper()

# Niryo One and Ned
tool.open_gripper(speed=850)

# Ned2
tool.open_gripper(max_torque_percentage=100, hold_torque_percentage=50)

def tool_callback(_msg)
    print("Released")

tool.open_gripper(callback=tool_callback)

Parameters

speed (int) – Between 100 & 1000 (only for Niryo One and Ned1)
max_torque_percentage (int) – Closing torque percentage (only for Ned2)
hold_torque_percentage (int) – Hold torque percentage after closing (only for Ned2)
callback (function) – Callback invoked on successful execution.

Return type

None

Tool.close_gripper(speed=500, max_torque_percentage=100, hold_torque_percentage=30, callback=None)[source]

Close gripper associated to ‘gripper_id’ with a speed ‘speed’ If a callback function is not passed in parameter, the function will be blocking. Otherwise, the callback will be called when the execution of the function is finished.

Examples:

tool.update_tool()
tool.close_gripper()

# Niryo One and Ned
tool.close_gripper(speed=850)

# Ned2
tool.close_gripper(max_torque_percentage=100, hold_torque_percentage=50)

def tool_callback(_msg)
    print("Grasped")

tool.close_gripper(callback=tool_callback)

Parameters

speed (int) – Between 100 & 1000 (only for Niryo One and Ned1)
max_torque_percentage (int) – Opening torque percentage (only for Ned2)
hold_torque_percentage (int) – Hold torque percentage after opening (only for Ned2)
callback (function) – Callback invoked on successful execution.

Return type

None

Vacuum pump functions 

Tool.pull_air_vacuum_pump(callback=None)[source]

Pull air of vacuum pump If a callback function is not passed in parameter, the function will be blocking. Otherwise, the callback will be called when the execution of the function is finished.

Examples:

tool.update_tool()
tool.pull_air_vacuum_pump()

def tool_callback(_msg)
    print("Grasped")

tool.pull_air_vacuum_pump(callback=tool_callback)

Parameters: callback (function) – Callback invoked on successful execution.
Return type: None

Tool.push_air_vacuum_pump(callback=None)[source]

Push air of vacuum pump If a callback function is not passed in parameter, the function will be blocking. Otherwise, the callback will be called when the execution of the function is finished.

Examples:

tool.update_tool()
tool.push_air_vacuum_pump()

def tool_callback(_msg)
    print("Released")

tool.push_air_vacuum_pump(callback=tool_callback)

Parameters: callback (function) – Callback invoked on successful execution.
Return type: None

Electromagnet functions 

Tool.setup_electromagnet(pin_id)[source]

Setup electromagnet on pin

Example:

tool.setup_electromagnet(PinID.GPIO_1A)

Parameters: pin_id (PinID) –
Return type: None

Tool.activate_electromagnet(pin_id=None, callback=None)[source]

Activate electromagnet associated to electromagnet_id on pin_id If a callback function is not passed in parameter, the function will be blocking. Otherwise, the callback will be called when the execution of the function is finished.

Examples:

tool.setup_electromagnet(PinID.GPIO_1A)
tool.activate_electromagnet()
tool.activate_electromagnet(PinID.GPIO_1A)

def tool_callback(_msg)
    print("Grasped") 

tool.activate_electromagnet(callback=tool_callback)

Parameters

pin_id (PinID) –
callback (function) – Callback invoked on successful execution.

Return type

None

Tool.deactivate_electromagnet(pin_id=None, callback=None)[source]

Deactivate electromagnet associated to electromagnet_id on pin_id If a callback function is not passed in parameter, the function will be blocking. Otherwise, the callback will be called when the execution of the function is finished.

Examples:

tool.setup_electromagnet(PinID.GPIO_1A)
tool.deactivate_electromagnet()
tool.deactivate_electromagnet(PinID.GPIO_1A)

def tool_callback(_msg)
    print("Deactivated")

tool.deactivate_electromagnet(callback=tool_callback)

Parameters

pin_id (PinID) –
callback (function) – Callback invoked on successful execution.

Return type

None

TCP functions 

Tool.enable_tcp(enable=True)[source]

Enables or disables the TCP function (Tool Center Point). If activation is requested, the last recorded TCP value will be applied. The default value depends on the gripper equipped. If deactivation is requested, the TCP will be coincident with the tool_link.

Parameters: enable (Bool) – True to enable, False otherwise.
Return type: None

Tool.set_tcp(*args)[source]

Activates the TCP function (Tool Center Point) and defines the transformation between the tool_link frame and the TCP frame.

Examples:

tool.set_tcp(0.02, 0.0, 0.03, 0.0, 1.57, 0.0)
tool.set_tcp([0.02, 0.0, 0.03, 0.0, 1.57, 0.0])
tool.set_tcp(PoseObject(0.02, 0.0, 0.03, 0.0, 1.57, 0.0))

Parameters: args (Union[tuple[float], list[float], PoseObject]) – either 6 args (1 for each coordinates) or a list of 6 coordinates or a PoseObject
Return type: None

Tool.reset_tcp()[source]

Reset the TCP (Tool Center Point) transformation. The PCO will be reset according to the tool equipped.

Return type: None

Tool - Niryo Topics

The use of these functions is explained in the NiryoTopic section. They allow the acquisition of data in real time by callbacks or by direct call.

Tool’s Niryo Topics
Name	Function	Return type
`/niryo_robot_tools_commander/current_id`	`get_current_tool_id`	`ToolID`

Tool - Enums

List of enums:

ToolID
ToolCommand

class ToolID(value)[source]

Enumeration of Tools IDs

NONE = 0

GRIPPER_1 = 11

GRIPPER_2 = 12

GRIPPER_3 = 13

GRIPPER_4 = 14

ELECTROMAGNET_1 = 30

VACUUM_PUMP_1 = 31

class ToolCommand(value)[source]

An enumeration.

OPEN_GRIPPER = 1

CLOSE_GRIPPER = 2

PULL_AIR_VACUUM_PUMP = 10

PUSH_AIR_VACUUM_PUMP = 11

SETUP_DIGITAL_IO = 20

ACTIVATE_DIGITAL_IO = 21

DEACTIVATE_DIGITAL_IO = 22

Tool

Tool - Command Functions

Tool functions

Grippers functions

Vacuum pump functions

Electromagnet functions

TCP functions

Tool - Niryo Topics

Tool - Enums

Tool functions 

Grippers functions 

Vacuum pump functions 

Electromagnet functions 

TCP functions 