rria-api 1.0.4

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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, with plans to support a Denso robot.

Requirements

• Python 3.9+
• Kortex API .whl package

Instalation

1. Download the v2.3.0 Kortex API .whl package (required for controlling the Kinova Gen3 and 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.robot_facade import *

# Create gen3 RobotObject
gen3_lite = RobotObject('172.22.64.105', 'gen3')

# Create Nirio NED RobotObject
ned = RobotObject('169.254.200.200', '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()