Examples: Movement¶
This document shows how to control Ned in order to make Move Joints & Move Pose.
If you want see more, you can look at API - Joints & Pose.
Danger
If you are using the real robot, make sure the environment around is clear.
Joints¶
To do a moveJ, you should pass 6 floats: (j1, j2, j3, j4, j5, j6) to the
method move_joints()
:
#!/usr/bin/env python
# Imports
from niryo_robot_python_ros_wrapper import *
import rospy
# Initializing ROS node
rospy.init_node('niryo_ned_example_python_ros_wrapper')
niryo_robot = NiryoRosWrapper()
niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
To get joints, we use get_joints()
:
joints = niryo_robot.get_joints()
j1, j2, j3, j4, j5, j6 = joints
Pose¶
To do a moveP, you should pass 6 floats: (x, y, z, roll, pitch, yaw) to the
method move_pose()
.
See on this example:
#!/usr/bin/env python
# Imports
from niryo_robot_python_ros_wrapper import *
import rospy
# Initializing ROS node
rospy.init_node('niryo_ned_example_python_ros_wrapper')
niryo_robot = NiryoRosWrapper()
niryo_robot.move_pose(0.25, 0.0, 0.25, 0.0, 0.0, 0.0)
To get pose, we use get_pose()
:
x, y, z, roll, pitch, yaw = niryo_robot.get_pose()