Niryo Ned2 Control Project

This project provides a collection of utilities and libraries in C and Python to control Niryo Ned2 robotic arms via their TCP JSON protocol.

Python Utilization

The Python implementation centers around the MyRobot class (found in myrobot_class.py), which acts as a high-level wrapper for the pyniryo library.

• Key Features: Automatic calibration, tool detection, and support for both joint-space and Cartesian coordinates. It also adds a management layer for "Saved Poses" and "Sequences" stored in JSON files.
• Quick Start:

  from myrobot_class import MyRobot
  robot = MyRobot("192.168.100.205", "Ned2_Robot")
  robot.load_from_json("sequences.json")
  robot.run_sequence("say-hi")
  robot.disconnect()

C Utilization

The C implementation provides a lightweight way to control the robot without heavy dependencies, communicating over TCP port 40001 using length-prefixed JSON frames.

• Approaches:
  • Minimal: run_sequence.c uses internal string parsing to avoid external dependencies.
  • Library-based: run_sequence_jsonc.c utilizes the json-c library for robust JSON handling.
• Compilation: Typically requires linking with the math library and json-c:

  gcc -O2 run_sequence_jsonc.c -ljson-c -lm -o run_sequence

Provided Examples

The project includes several examples to demonstrate robot interaction:

1. Choreography (using_myRobot.py): Demonstrates how to load a sequence of movements (like waving or picking objects) from a JSON file and execute them using the Python wrapper.
2. Sequence Runner (run_sequence_jsonc.c): A C program that reads robot poses from a JSON file, performs a handshake and calibration, and then executes a specific movement sequence.
3. TCP Demo (niryo_tcp_demo.c): A lower-level example showing the raw "wire protocol" by manually sending commands like HANDSHAKE, CALIBRATE, and MOVE_JOINTS over a raw TCP socket.
4. Hardware Probing (handshake_probe.c): A utility to test different network terminators and connection behaviors to ensure compatibility with the robot's server.