deploy: 4c561d9

NiryoRobotics · Dec 11, 2024 · a06074c · a06074c
commit a06074c
Show file tree

Hide file tree

Showing 338 changed files with 97,728 additions and 0 deletions.
diff --git a/.nojekyll b/.nojekyll
diff --git a/index.html b/index.html
@@ -0,0 +1,8 @@
+
+                <!DOCTYPE html>
+                <html>
+                <head>
+                <meta http-equiv="refresh" content="0; url =
+                v1.0.1/index.html" />
+                </head>
+
diff --git a/v1.0.0/.buildinfo b/v1.0.0/.buildinfo
@@ -0,0 +1,4 @@
+# Sphinx build info version 1
+# This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 84f33302e56879422319ce929e7615cb
+tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/v1.0.0/.doctrees/environment.pickle b/v1.0.0/.doctrees/environment.pickle
diff --git a/v1.0.0/.doctrees/index.doctree b/v1.0.0/.doctrees/index.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/arm.doctree b/v1.0.0/.doctrees/source/api_doc/arm.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/conveyor.doctree b/v1.0.0/.doctrees/source/api_doc/conveyor.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/frames.doctree b/v1.0.0/.doctrees/source/api_doc/frames.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/io.doctree b/v1.0.0/.doctrees/source/api_doc/io.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/led_ring.doctree b/v1.0.0/.doctrees/source/api_doc/led_ring.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/niryo_robot.doctree b/v1.0.0/.doctrees/source/api_doc/niryo_robot.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/niryo_ros.doctree b/v1.0.0/.doctrees/source/api_doc/niryo_ros.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/niryo_topics.doctree b/v1.0.0/.doctrees/source/api_doc/niryo_topics.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/pick_place.doctree b/v1.0.0/.doctrees/source/api_doc/pick_place.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/saved_poses.doctree b/v1.0.0/.doctrees/source/api_doc/saved_poses.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/sound.doctree b/v1.0.0/.doctrees/source/api_doc/sound.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/tool.doctree b/v1.0.0/.doctrees/source/api_doc/tool.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/trajectories.doctree b/v1.0.0/.doctrees/source/api_doc/trajectories.doctree
diff --git a/v1.0.0/.doctrees/source/api_doc/vision.doctree b/v1.0.0/.doctrees/source/api_doc/vision.doctree
diff --git a/v1.0.0/.doctrees/source/examples/code_templates.doctree b/v1.0.0/.doctrees/source/examples/code_templates.doctree
diff --git a/v1.0.0/.doctrees/source/examples/examples_basics.doctree b/v1.0.0/.doctrees/source/examples/examples_basics.doctree
diff --git a/v1.0.0/.doctrees/source/examples/examples_conveyor.doctree b/v1.0.0/.doctrees/source/examples/examples_conveyor.doctree
diff --git a/v1.0.0/.doctrees/source/examples/examples_frames.doctree b/v1.0.0/.doctrees/source/examples/examples_frames.doctree
diff --git a/v1.0.0/.doctrees/source/examples/examples_movement.doctree b/v1.0.0/.doctrees/source/examples/examples_movement.doctree
diff --git a/v1.0.0/.doctrees/source/examples/examples_tool_action.doctree b/v1.0.0/.doctrees/source/examples/examples_tool_action.doctree
diff --git a/v1.0.0/.doctrees/source/examples/examples_vision.doctree b/v1.0.0/.doctrees/source/examples/examples_vision.doctree
diff --git a/v1.0.0/.doctrees/source/setup/installation.doctree b/v1.0.0/.doctrees/source/setup/installation.doctree
diff --git a/v1.0.0/.doctrees/source/setup/ip_address.doctree b/v1.0.0/.doctrees/source/setup/ip_address.doctree
diff --git a/v1.0.0/.doctrees/source/setup/verify_setup.doctree b/v1.0.0/.doctrees/source/setup/verify_setup.doctree
diff --git a/v1.0.0/.nojekyll b/v1.0.0/.nojekyll
diff --git a/v1.0.0/_images/PyNiryo_logo_2.png b/v1.0.0/_images/PyNiryo_logo_2.png
diff --git a/v1.0.0/_images/code_template_basic.gif b/v1.0.0/_images/code_template_basic.gif
diff --git a/v1.0.0/_images/niryo_ned_front.jpg b/v1.0.0/_images/niryo_ned_front.jpg
diff --git a/v1.0.0/_modules/index.html b/v1.0.0/_modules/index.html
diff --git a/v1.0.0/_modules/pyniryo2/arm/arm.html b/v1.0.0/_modules/pyniryo2/arm/arm.html
diff --git a/v1.0.0/_modules/pyniryo2/arm/enums.html b/v1.0.0/_modules/pyniryo2/arm/enums.html
diff --git a/v1.0.0/_modules/pyniryo2/arm/objects.html b/v1.0.0/_modules/pyniryo2/arm/objects.html
diff --git a/v1.0.0/_modules/pyniryo2/conveyor/conveyor.html b/v1.0.0/_modules/pyniryo2/conveyor/conveyor.html
diff --git a/v1.0.0/_modules/pyniryo2/conveyor/enums.html b/v1.0.0/_modules/pyniryo2/conveyor/enums.html
diff --git a/v1.0.0/_modules/pyniryo2/enums.html b/v1.0.0/_modules/pyniryo2/enums.html
diff --git a/v1.0.0/_modules/pyniryo2/frames/frames.html b/v1.0.0/_modules/pyniryo2/frames/frames.html
diff --git a/v1.0.0/_modules/pyniryo2/io/enums.html b/v1.0.0/_modules/pyniryo2/io/enums.html
diff --git a/v1.0.0/_modules/pyniryo2/io/io.html b/v1.0.0/_modules/pyniryo2/io/io.html
diff --git a/v1.0.0/_modules/pyniryo2/io/objects.html b/v1.0.0/_modules/pyniryo2/io/objects.html
diff --git a/v1.0.0/_modules/pyniryo2/led_ring/enums.html b/v1.0.0/_modules/pyniryo2/led_ring/enums.html
diff --git a/v1.0.0/_modules/pyniryo2/led_ring/led_ring.html b/v1.0.0/_modules/pyniryo2/led_ring/led_ring.html
diff --git a/v1.0.0/_modules/pyniryo2/led_ring/objects.html b/v1.0.0/_modules/pyniryo2/led_ring/objects.html
diff --git a/v1.0.0/_modules/pyniryo2/niryo_robot.html b/v1.0.0/_modules/pyniryo2/niryo_robot.html
diff --git a/v1.0.0/_modules/pyniryo2/niryo_ros.html b/v1.0.0/_modules/pyniryo2/niryo_ros.html
diff --git a/v1.0.0/_modules/pyniryo2/niryo_topic.html b/v1.0.0/_modules/pyniryo2/niryo_topic.html
diff --git a/v1.0.0/_modules/pyniryo2/objects.html b/v1.0.0/_modules/pyniryo2/objects.html
diff --git a/v1.0.0/_modules/pyniryo2/pick_place/pick_place.html b/v1.0.0/_modules/pyniryo2/pick_place/pick_place.html
diff --git a/v1.0.0/_modules/pyniryo2/saved_poses/saved_poses.html b/v1.0.0/_modules/pyniryo2/saved_poses/saved_poses.html
diff --git a/v1.0.0/_modules/pyniryo2/sound/enums.html b/v1.0.0/_modules/pyniryo2/sound/enums.html
diff --git a/v1.0.0/_modules/pyniryo2/sound/sound.html b/v1.0.0/_modules/pyniryo2/sound/sound.html
diff --git a/v1.0.0/_modules/pyniryo2/tool/enums.html b/v1.0.0/_modules/pyniryo2/tool/enums.html
diff --git a/v1.0.0/_modules/pyniryo2/tool/tool.html b/v1.0.0/_modules/pyniryo2/tool/tool.html
diff --git a/v1.0.0/_modules/pyniryo2/trajectories/trajectories.html b/v1.0.0/_modules/pyniryo2/trajectories/trajectories.html
diff --git a/v1.0.0/_modules/pyniryo2/vision/enums.html b/v1.0.0/_modules/pyniryo2/vision/enums.html
diff --git a/v1.0.0/_modules/pyniryo2/vision/vision.html b/v1.0.0/_modules/pyniryo2/vision/vision.html
diff --git a/v1.0.0/_sources/index.rst.txt b/v1.0.0/_sources/index.rst.txt
@@ -0,0 +1,135 @@
+PyNiryo2 Documentation
+================================
+
+.. image:: _static/PyNiryo_logo_2.png
+   :width: 600px
+   :align: center
+
+
+This documentation presents Ned's PyPi package, which is the second version of the python API Pyniryo for the robots:
+Niryo One, Ned and Ned2. It is based on the roslibpy library and allows a more complete programming of the robots.
+
+It offers a simple way for developers to create programs for robot and
+to control them via remote communication from their computers.
+Contrary to the Python ROS Wrapper, the user will not need to be connected on the robot
+through a terminal.
+This API is based on `roslibpy <https://roslibpy.readthedocs.io/en/latest/index.html>`_.
+
+.. note:: This package is able to control Ned in simulation
+   as well as the physical robot.
+
+.. figure:: images/niryo_ned_front.jpg
+   :alt: Niryo Ned
+   :height: 400px
+   :align: center
+
+   Niryo Ned
+
+.. list-table::
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  - Functionality
+      - PyNiryo
+      - PyNiryo2
+   *  - Robot control
+      - **YES**
+      - **YES**
+   *  - Callbacks functions
+      - **NO**
+      - **YES**
+   *  - Parallelism of commands
+      - **NO**
+      - **YES**
+   *  - Asynchronous functions
+      - **NO**
+      - **YES**
+
+
+Before getting started
+----------------------------
+
+
+| If you haven’t already done so , make sure to learn about
+ the ROS robot software by reading the |ros_doc|_.
+
+| This documentation also contains everything you need to
+ know if you want to use Ned through simulation.
+
+
+Sections organization
+-----------------------------------
+
+This document is organized in 4 main sections
+
+Setup
+^^^^^^^^^^^
+
+Install & Setup your environment in order to use Ned with PyNiryo2.
+
+Firstly, follow :doc:`Installation instructions <source/setup/installation>`,
+then :doc:`find your Robot IP address <source/setup/ip_address>` to be ready.
+
+.. toctree::
+   :caption: Setup
+   :hidden:
+
+   source/setup/installation
+   source/setup/ip_address
+   source/setup/verify_setup
+
+Examples
+^^^^^^^^^^^^^^^
+
+Learn how to use the PyNiryo2 package to implement various tasks
+
+.. toctree::
+   :hidden:
+   :caption: Examples
+
+   source/examples/examples_basics
+   source/examples/examples_movement
+   source/examples/examples_tool_action
+   source/examples/examples_conveyor
+   source/examples/examples_vision
+   source/examples/examples_frames
+   source/examples/code_templates
+
+API Documentation
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Master controls with PyNiryo2 with full detailed functions
+:doc:`here <source/api_doc/niryo_robot>`
+
+.. toctree::
+   :caption: API Documentation
+
+   source/api_doc/niryo_robot
+   source/api_doc/niryo_topics
+   source/api_doc/niryo_ros
+   source/api_doc/arm
+   source/api_doc/tool
+   source/api_doc/vision
+   source/api_doc/io
+   source/api_doc/conveyor
+   source/api_doc/saved_poses
+   source/api_doc/pick_place
+   source/api_doc/trajectories
+   source/api_doc/frames
+   source/api_doc/led_ring
+   source/api_doc/sound
+
+
+
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
+
+.. |ros_doc| replace:: Ned's Software documentation
+.. _ros_doc: https://docs.niryo.com/ros-doc/
diff --git a/v1.0.0/_sources/source/api_doc/arm.rst.txt b/v1.0.0/_sources/source/api_doc/arm.rst.txt
@@ -0,0 +1,157 @@
+Arm
+=====================================
+
+This file presents the different :ref:`source/api_doc/arm:Arm - Command functions`,
+:ref:`source/api_doc/arm:Arm - Enums`, :ref:`source/api_doc/arm:Arm - Niryo Topics` & :ref:`source/api_doc/arm:Arm - Objects` available with the  Arm API
+
+Arm - Command functions
+------------------------------------
+
+.. automodule:: pyniryo2.arm.arm
+   :members:
+   :noindex:
+
+
+This section reference all existing functions to control your robot arm, which include
+
+- Getting the robot state
+- Moving the arm
+- Getting inverse and forward kinematics
+- Calibrating the robot
+
+All functions to control the robot are accessible via an instance of
+the class :ref:`source/api_doc/niryo_robot:NiryoRobot` ::
+
+
+    robot = NiryoRobot(<robot_ip_address>)
+
+    robot.arm.calibrate_auto()
+    robot.arm.move_joints([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+    ...
+
+See examples on :ref:`Examples Section <source/examples/examples_basics:Examples: Basics>`
+
+List of functions subsections:
+
+.. contents::
+   :local:
+   :depth: 1
+
+.. autoclass:: Arm
+
+
+Calibration functions
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. automethod:: Arm.calibrate
+.. automethod:: Arm.calibrate_auto
+.. automethod:: Arm.request_new_calibration
+.. automethod:: Arm.reset_calibration
+.. automethod:: Arm.need_calibration
+
+Robot move functions
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. automethod:: Arm.set_arm_max_velocity
+.. automethod:: Arm.go_to_sleep
+.. automethod:: Arm.stop_move
+.. automethod:: Arm.move_to_home_pose
+.. automethod:: Arm.move_joints
+.. automethod:: Arm.move_pose
+.. automethod:: Arm.move_linear_pose
+.. automethod:: Arm.shift_pose
+.. automethod:: Arm.move_relative
+.. automethod:: Arm.move_linear_relative
+.. automethod:: Arm.set_jog_control
+.. automethod:: Arm.jog_joints
+.. automethod:: Arm.jog_pose
+
+
+Robot status functions
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autoproperty:: Arm.hardware_status
+.. autoproperty:: Arm.joints_state
+.. automethod:: Arm.get_joints
+.. autoproperty:: Arm.joints
+.. autoproperty:: Arm.pose
+.. autoproperty:: Arm.get_pose
+.. automethod:: Arm.get_pose_quat
+
+
+Learning mode functions
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autoproperty:: Arm.learning_mode
+.. automethod:: Arm.get_learning_mode
+.. automethod:: Arm.set_learning_mode
+
+
+Kinematics functions
+^^^^^^^^^^^^^^^^^^^^
+
+.. automethod:: Arm.forward_kinematics
+.. automethod:: Arm.inverse_kinematics
+
+
+Arm - Niryo Topics
+------------------------------------
+
+The use of these functions is explained in the :ref:`source/api_doc/niryo_topics:NiryoTopic` section.
+They allow the acquisition of data in real time by callbacks or by direct call.
+
+.. list-table:: Arm's Niryo Topics
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Function
+      -  Return type
+   *  -  ``/joint_states``
+      -  :attr:`~.arm.Arm.joints_state`
+      -  :class:`~.arm.objects.JointStateObject`
+   *  -  ``/niryo_robot/robot_state``
+      -  :attr:`~.arm.Arm.get_pose`
+      -  :class:`~.objects.PoseObject`
+   *  -  ``/niryo_robot_hardware_interface/hardware_status``
+      -  :attr:`~.arm.Arm.hardware_status`
+      -  :class:`~.arm.objects.HardwareStatusObject`
+   *  -  ``/niryo_robot/learning_mode/state``
+      -  :attr:`~.arm.Arm.learning_mode`
+      -  :exc:`bool`
+   *  -  ``/niryo_robot/max_velocity_scaling_factor``
+      -  :attr:`~.arm.Arm.get_arm_max_velocity`
+      -  :exc:`float`
+
+Arm - Enums
+------------------------------------
+
+List of enums:
+
+* :class:`~.arm.enums.CalibrateMode`
+* :class:`~.arm.enums.RobotAxis`
+* :class:`~.arm.enums.JogShift`
+
+.. automodule:: pyniryo2.arm.enums
+    :members:
+    :undoc-members:
+    :member-order: bysource
+    :noindex:
+
+Arm - Objects
+------------------------------------
+
+* :class:`HardwareStatusObject`
+
+.. autoclass:: pyniryo2.arm.objects.HardwareStatusObject
+
+
+* :class:`JointStateObject`
+
+.. autoclass:: pyniryo2.arm.objects.JointStateObject
+
+* :class:`~.objects.PoseObject`
+
+.. autoclass:: pyniryo2.objects.PoseObject
diff --git a/v1.0.0/_sources/source/api_doc/conveyor.rst.txt b/v1.0.0/_sources/source/api_doc/conveyor.rst.txt
@@ -0,0 +1,87 @@
+Conveyor
+=====================================
+
+This file presents the different :ref:`source/api_doc/conveyor:Conveyor - Command functions`,
+:ref:`source/api_doc/conveyor:Conveyor - Enums`, :ref:`source/api_doc/conveyor:Conveyor - Niryo Topics` & :ref:`source/api_doc/conveyor:Conveyor - Namedtuple` available with the  Arm API
+
+
+Conveyor - Command functions
+------------------------------------
+
+.. automodule:: pyniryo2.conveyor.conveyor
+   :members:
+   :noindex:
+
+This section reference all existing functions to control your robot, which include
+
+- Controlling conveyors
+
+All functions to control the robot are accessible via an instance of
+the class :ref:`source/api_doc/niryo_robot:NiryoRobot` ::
+
+    robot = NiryoRobot(<robot_ip_address>)
+
+    conveyor_id = robot.conveyor.set_conveyor()
+    robot.conveyor.run_conveyor(conveyor_id)
+    ...
+
+See examples on :ref:`Examples Section <source/examples/examples_conveyor:Examples: Conveyor>`
+
+List of functions subsections:
+
+.. contents::
+   :local:
+   :depth: 1
+
+Conveyor functions
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autoclass:: Conveyor
+    :members: set_conveyor, unset_conveyor, run_conveyor,
+              stop_conveyor, control_conveyor, get_conveyors_feedback, conveyors
+    :member-order: bysource
+
+Conveyor - Niryo Topics
+------------------------------------
+
+The use of these functions is explained in the :ref:`source/api_doc/niryo_topics:NiryoTopic` section.
+They allow the acquisition of data in real time by callbacks or by direct call.
+
+.. list-table:: Conveyors's Niryo Topics
+   :header-rows: 1
+   :widths: auto
+   :stub-columns: 0
+   :align: center
+
+   *  -  Name
+      -  Function
+      -  Return type
+   *  -  ``/niryo_robot/conveyor/feedback``
+      -  :attr:`~.conveyor.Conveyor.get_conveyors_feedback`
+      -  :exc:`list` [ :class:`~.conveyor.objects.ConveyorInfo` ]
+
+Conveyor - Enums
+------------------------------------
+
+List of enums:
+
+* :class:`~.conveyor.objects.ConveyorID`
+* :class:`~.conveyor.objects.ConveyorDirection`
+* :class:`~.conveyor.objects.ConveyorStatus`
+
+.. automodule:: pyniryo2.conveyor.enums
+    :members:
+    :undoc-members:
+    :exclude-members:
+    :member-order: bysource
+    :noindex:
+
+
+Conveyor - Namedtuple
+------------------------------------
+
+.. automodule:: pyniryo2.conveyor.objects
+    :members:
+    :no-undoc-members:
+    :member-order: bysource
+    :noindex: