Examples: Tool action

This page shows how to control Ned’s tools via the Python ROS Wrapper.

If you want see more, you can look at API - Tools.

Danger

If you are using the real robot, make sure the environment around it is clear.

Tool control

Equip tool

In order to use a tool, it should be mechanically plugged to the robot but also connected software wise.

To do that, we should use the function update_tool() which takes no argument. It will scan motor connections and set the new tool!

The line to equip a new tool is:

niryo_robot.update_tool()

Grasping

To grasp with any tool, you can use the function: grasp_with_tool(). This action corresponds to:

• Close gripper for Grippers.
• Pull Air for Vacuum pump.
• Activate for Electromagnet.

The code to grasp is:

#!/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')

# Connecting to the ROS Wrapper & calibrating if needed
niryo_robot = NiryoRosWrapper()
niryo_robot.calibrate_auto()

# Updating tool
niryo_robot.update_tool()

# Grasping
niryo_robot.grasp_with_tool()

To grasp by specifying parameters:

#!/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')

# Connecting to the ROS Wrapper & calibrating if needed
niryo_robot = NiryoRosWrapper()
niryo_robot.calibrate_auto()

# Updating tool
tool_used = ToolID.XXX
niryo_robot.update_tool()

if tool_used in [ToolID.GRIPPER_1, ToolID.GRIPPER_2, ToolID.GRIPPER_3, ToolID.GRIPPER_4]:
    niryo_robot.close_gripper(speed=500)
elif tool_used == ToolID.ELECTROMAGNET_1:
    pin_electromagnet = PinID.XXX
    niryo_robot.setup_electromagnet(pin_electromagnet)
    niryo_robot.activate_electromagnet(pin_electromagnet)
elif tool_used == ToolID.VACUUM_PUMP_1:
    niryo_robot.pull_air_vacuum_pump()

Releasing

To release with any tool, you can use the function: release_with_tool(). This action corresponds to:

• Open gripper for Grippers.
• Push Air for Vacuum pump.
• Deactivate for Electromagnet.

The line to release is:

niryo_robot.release_with_tool()

To release by specifying parameters:

#!/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')

# Connecting to the ROS Wrapper & calibrating if needed
niryo_robot = NiryoRosWrapper()
niryo_robot.calibrate_auto()

# Updating tool
tool_used = ToolID.XXX
niryo_robot.update_tool()

if tool_used in [ToolID.GRIPPER_1, ToolID.GRIPPER_2, ToolID.GRIPPER_3, ToolID.GRIPPER_4]:
    niryo_robot.open_gripper(speed=500)
elif tool_used == ToolID.ELECTROMAGNET_1:
    pin_electromagnet = PinID.XXX
    niryo_robot.setup_electromagnet(pin_electromagnet)
    niryo_robot.deactivate_electromagnet(pin_electromagnet)
elif tool_used == ToolID.VACUUM_PUMP_1:
    niryo_robot.push_air_vacuum_pump(tool_used)

Pick & place with tools

There are a plenty of ways to realize a pick and place with the ROS Wrapper. Methods will be presented from the lowest to highest level.

Code used will be:

# Imports
from niryo_robot_python_ros_wrapper import *

gripper_used = ToolID.XXX  # Tool used for picking

# The pick pose
pick_pose = (0.25, 0., 0.15, 0., 1.57, 0.0)
# The Place pose
place_pose = (0., -0.25, 0.1, 0., 1.57, -1.57)

def pick_n_place_version_x(niryo_ned):
    # -- SOME CODE -- #

if __name__ == '__main__':
    niryo_robot = NiryoRosWrapper()
    niryo_robot.calibrate_auto()
    pick_n_place_version_x(niryo_robot)

First solution: the heaviest

Everything is done by hand:

def pick_n_place_version_1(niryo_ned):
    height_offset = 0.05  # Offset according to Z-Axis to go over pick & place poses
    gripper_speed = 400

    # Going Over Object
    niryo_ned.move_pose(pick_pose[0], pick_pose[1], pick_pose[2] + height_offset,
                        pick_pose[3], pick_pose[4], pick_pose[5])
    # Opening Gripper
    niryo_ned.open_gripper(gripper_speed)
    # Going to picking place and closing gripper
    niryo_ned.move_pose(pick_pose[0], pick_pose[1], pick_pose[2],
                        pick_pose[3], pick_pose[4], pick_pose[5])
    niryo_ned.close_gripper(gripper_speed)

    # Raising
    niryo_ned.move_pose(pick_pose[0], pick_pose[1], pick_pose[2] + height_offset,
                        pick_pose[3], pick_pose[4], pick_pose[5])

    # Going Over Place pose
    niryo_ned.move_pose(place_pose[0], place_pose[1], place_pose[2] + height_offset,
                        place_pose[3], place_pose[4], place_pose[5])
    # Going to Place pose
    niryo_ned.move_pose(place_pose[0], place_pose[1], place_pose[2],
                        place_pose[3], place_pose[4], place_pose[5])
    # Opening Gripper
    niryo_ned.open_gripper(gripper_speed)
    # Raising
    niryo_ned.move_pose(place_pose[0], place_pose[1], place_pose[2] + height_offset,
                        place_pose[3], place_pose[4], place_pose[5])

Second solution: pick from pose & place from pose functions

We use predefined functions:

def pick_n_place_version_3(niryo_ned):
    # Pick
    niryo_ned.pick_from_pose(*pick_pose)
    # Place
    niryo_ned.place_from_pose(*place_pose)

Third solution: all in one

We use THE predifined function:

def pick_n_place_version_4(niryo_ned):
    # Pick & Place
    niryo_ned.pick_and_place(pick_pose, place_pose)