Examples: Basics
In this file, two short programs are implemented & commented in order to help you understand the philosophy behind the PyNiryo package
Danger
If you are using the real robot, make sure the environment around it is clear
Your first move joint
The following example shows a first use case. It’s a simple MoveJ.
from pyniryo2 import *
robot = NiryoRobot("10.10.10.10")
robot.arm.calibrate_auto()
robot.arm.move_joints([0.2, -0.3, 0.1, 0.0, 0.5, -0.8])
robot.end()
Code Details - First Move J
First of all, we import the library to be able to access functions
from pyniryo2 import *
Then, we instantiate the connection and link the variable robot to the robot
at the IP Address 10.10.10.10
robot = NiryoRobot("10.10.10.10")
Once the connection is done, we calibrate the robot using its
calibrate_auto() function
robot.arm.calibrate_auto()
As the robot is now calibrated, we can do a Move Joints by giving the 6 axis positions
in radians ! To do so, we use move_joints()
robot.arm.move_joints([0.2, -0.3, 0.1, 0.0, 0.5, -0.8])
Our process is now over, we can close the connection with
end()
robot.end()
Your first pick and place
In the second example, we are going to develop a pick and place algorithm
from pyniryo2 import *
robot = NiryoRobot("10.10.10.10")
robot.arm.calibrate_auto()
robot.tool.update_tool()
robot.tool.release_with_tool()
robot.arm.move_pose([0.2, -0.1, 0.25, 0.0, 1.57, 0.0])
robot.tool.grasp_with_tool()
robot.arm.move_pose([0.2, 0.1, 0.25, 0.0, 1.57, 0.0])
robot.tool.release_with_tool()
robot.end()
Code Details - First Pick And Place
First of all, we import the library and start the connection between our computer and the robot. We also calibrate the robot
from pyniryo2 import *
robot = NiryoRobot("10.10.10.10")
robot.arm.calibrate_auto()
Then, we equip the tool
with update_tool()
robot.tool.update_tool()
Now that our initialization is done, we can open the gripper (or push air from the vacuum)
with release_with_tool(),
go to the picking pose via move_pose()
& then catch an object
with grasp_with_tool() !
robot.tool.release_with_tool()
robot.arm.move_pose([0.2, -0.1, 0.25, 0.0, 1.57, 0.0])
robot.tool.grasp_with_tool()
We now get to the place pose, and place the object
robot.arm.move_pose([0.2, 0.1, 0.25, 0.0, 1.57, 0.0])
robot.tool.release_with_tool()
Our process is now over, we can close the connection
robot.end()