RRIA-API

The rria-api is an easy-to-use package that provides a common interface to control robots used by the Residence in Robotics and AI at the UFPE's informatics center. The API currently supports the use of Kinova Gen3 lite and Niryo NED, this API supports a dummy robot for testing purposes.

Requirements

• Python 3.9+
• Kortex API .whl package

Installation

1. Download the v2.3.0 Kortex API .whl package (required for controlling the Kinova Gen3 lite):

   • kortex_api-2.3.0.post34-py3-none-any.whl.

2. Install the downloaded package with pip:

   $ pip install <path to kortex_api-2.3.0.post34-py3-none-any.whl>
   

3. Install the latest rria-api package with pip:

   pip install rria-api
   

Example

from rria_api import RobotObject, RobotEnum

# Create gen3 RobotObject
gen3_lite = RobotObject('192.168.2.10', RobotEnum.GEN3_LITE)

# Create Niryo NED RobotObject
ned = RobotObject('169.254.200.200', RobotEnum.NED)

gen3_lite.connect_robot()
ned.connect_robot()

gen3_lite.move_joints(30.0, 30.0, 30.0, 30.0, 30.0, 30.0)
ned.move_joints(30.0, 30.0, 30.0, 30.0, 30.0, 30.0)

gen3_lite.get_joints()
ned.get_joints()

gen3_lite.close_gripper()
ned.close_gripper()

gen3_lite.open_gripper()
ned.open_gripper()

gen3_lite.move_to_home()
ned.move_to_home()

gen3_lite.safe_disconnect()
ned.safe_disconnect()

Contributors

If you want to contribute to the development of the rria-api, you can clone the repository from GitHub, develop your changes and submit a pull request.

To generate the documentation, you need to install the docs' dependencies and run this command:

task docs

# or

mkdocs serve # For live preview

mkdocs build # For build the documentation