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Ressources

Ned3Pro

Fichiers 3D
STL
STEP
10/03/2025

Logiciel robotique 5.7.3

Comment flasher une carte SD ?

32Go SD Card

Note de version

Améliorations

  • refacto : Utilisation de roslibpy au lieu de rospy
  • Fix : le registre modbus des convoyeurs qui crashait
  • Fix : Publication sur le topic quand le service update_program est appelé

Voir les détails et les anciennes notes de version

Voir les détails et les anciennes notes de version

09/10/2024

NiryoStudio 1.7.1

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Note de version

Améliorations

  • Multisélection dans Blockly : Les utilisateurs peuvent désormais sélectionner plusieurs blocs à la fois pour des actions groupées (ex. : supprimer, déplacer) en utilisant la touche “Shift”.
  • Noms de programmes uniques : Les programmes doivent être enregistrés avec des noms uniques pour éviter l’écrasement des programmes existants.

Voir les détails et les anciennes notes de version

Voir les détails et les anciennes notes de version

Ned2

Fichiers 3D
STL
STEP
10/03/2025

Logiciel robotique 5.7.3

Comment flasher une carte SD ?

16Go SD Card
32Go SD Card

Note de version

Améliorations

    • refacto : Utilisation de roslibpy au lieu de rospy
    • Fix : le registre modbus des convoyeurs qui crashait
    • Fix : Publication sur le topic quand le service update_program est appelé

Voir les détails et les anciennes notes de version

Voir les détails et les anciennes notes de version

09/10/2024

NiryoStudio 1.7.1

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Note de version

Améliorations

  • Multisélection dans Blockly : Les utilisateurs peuvent désormais sélectionner plusieurs blocs à la fois pour des actions groupées (ex. : supprimer, déplacer) en utilisant la touche “Shift”.
  • Noms de programmes uniques : Les programmes doivent être enregistrés avec des noms uniques pour éviter l’écrasement des programmes existants.
  •  

Voir les détails et les anciennes notes de version

Voir les détails et les anciennes notes de version

Ned

Fichiers 3D
STL
STEP
18/12/2023

Logiciel robotique 4.1.3

Comment flasher une carte SD ?

16Go SD Card

Note de version

Améliorations

  • Ubuntu 18.04
  • Ros Noetic
  • Python 2.7
  • Compatibilité avec NiryoStudio 1 (4.1.2)
13/06/2023

NiryoStudio 1 v4.1.2

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Note de version

Améliorations

  • Visualisation 3D
  • Programmation par Blocks
  • Contrôle robotique
  • Gestion des équipements

Niryo One

09/02/2022

Logiciel robotique 4.0.1

Comment flasher une carte SD ?

SD Card
03/05/2022

NiryoStudio 1 v4.0.1

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ROBOTICS EXPERIENCE DESIGNER
Paiement Sécurisé
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Copyright © Niryo 2025

Release notes

Version 5.7.3 - 2025/03/10

Améliorations

  • refacto : Utilisation de roslibpy au lieu de rospy

Bug Fixes

  • Fix : le registre modbus des convoyeurs qui crashait

  • Fix : Publication sur le topic quand le service update_program est appelé

32Go SD Card

Améliorations

  • Verifie la validité de la trajectoire avant de l’exécuter et affiche un message d’erreur si un des points est en dehors de la limite
  • Pas de wait_for dans les noeuds des constructeurs. Utilisation à la place de callback / lazy loading
  • Expose le topic /niryo_robot_led_ring/led_ring_status à travers le led ring ros wrapper pour les 3 propriétés suivantes :

– is_autonomous

– animation_mode

– color

  • Expose le service /niryo_robot_led_ring/set_user_animation à travers le led ring ros wrapper avec la fonction set_user_animation. Toutes les fonctions d’animation de niveau supérieur utilisent celle-ci en interne.
  • Nouveau programme de démonstration, qui effectue les mêmes actions que le précédent mais de manière plus lisible dans le programme
  • Le programme de démonstration est également unique pour tous les robots.
  • Ajouter les fonctions manquantes à l’objet JointsPosition pour le rendre compatible avec set attr.
  • Désactive le timeout de la WebSocket client.
  • Ajout optional: true à l’interface eth.

Bug Fixes

  • Fix une typo dans le service client arm commander ce qui previent au service d’être appelé pendant l’arret du robot et lors de l’utilisation de ros wrapper

  • Corrigé la transformation de la pointe de calibration du Ned3pro.

  • Fix un bug dans robot_state publisher ce qui évite une alerte quand on divise par 0

  • Résolution de plusieurs bugs liés à la simulation du robot qui l’empechait de fonctionner correctement

  • Ajout d’accessoires manquants dans la simulation

  • Le package Modbus n’est plus démarré pendant la simulation

  • Fixed the control loop which is not releasing its lock if the loop frequency is too fast

  • Fix les boucles de contrôle qui ne libéraient pas son verrouillage si la fréquence de la boucle était trop rapide.

  • Les moteurs fictifs ne nécessitent plus d’être calibrés en simulation.

  • Vérifie si un fichier audio est vide avant de le charger.

  • Le end effector continuait de publier l’état des boutons pendant que le calibrage est en cours.

  • Un bug empêchait l’API cloud de mettre à jour ses valeurs S/N et rasp_id

  • Correction : dhcp_server_reachable est plus fiable.

32Go SD Card

Improvements

  • Improve /niryo_robot/conveyor/feedback reactivity when a conveyor is added or removed
  • Added convenience function NiryoRosWrapper.init_with_node which init a ros node and returns a NiryoRosWrapper instance
  • Deprecate NiryoRosWrapper.move_relative
  • Added a param normalize=True to NiryoRosWrapper.msg_from_pose
  • Add security checks to NiryoRosWrapper.unset_conveyor and NiryoRosWrapper.control_conveyor
  • NiryoRosWrapper.get_conveyors_feedback now returns a list of dict instead of a list of ConveyorFeedback messages
  • Added the following functions to the TCP server:
    • GET_POSE_V2
    •  FORWARD_KINEMATICS_V2
    • INVERSE_KINEMATICS_V2
    • GET_TCP
    • GET_CONVEYORS_FEEDBACK
  • Revert –robot_type arg deletion but set it deprecated to avoid breaking changes

Bug Fixes

  • Fixed wrong camera and gripper transforms in Ned3pro and Ned2’s URDF for simulation
  • Fixed a bug which prevented the jog feature to work
  • Use lazy loading from database when getting the joints home position settings to prevent a bug where the robot was unable to access the database at boot time
  • Ned3pro digital inputs are now not inverted
  • Fixed the jog features
  • Fixed NiryoRosWrapper.__get_obj_from_args which didn’t work with JointsPosition
  • Fixed NiryoRosWrapper.forward_kinematics which returned v2 metadata despite being a v1 pose
  • Fixed NiryoRosWrapper.inverse_kinematics which returned was converting poses to v2 before doing the inverse kinematics
  • Fixed a bug in Pose which was allocating the same instance of PoseMetadata when using the constructor’s default metadata value
  • Fixed a bug where memory was allocated and not freed each time the program player’s node tried to connect to an inexistant device
  • Fixed a bug in Tool ROS wrapper which was not using the correct service type when calling tool reboot service
  • Use correct message type for ros subscriber in arm_state
  • WifiClient.get_configured_networks now parse correctly SSIDs with characters different than `[0-9a-zA-Z- ]`
  • Missing type for environment default insertion in base.py
  • Fixed a bug which caused to set the default ethernet mode to DHCP instead of AUTO if not in DB
  • WifiClient can handle SSIDs with any unicode characters
32Go SD Card

Improvements

  • Add utility script to configure the robot’s firewall
  • Add the ability to allow or prevent multiple NS clients to connect to the robot
  • Add utility script to configure the ability to allow or prevent multiple NS clients to connect to the robot simultaneously
  • Add database migration to the updater script
  • The robot hostname is now dynamically set at boot time. It uses the following format: <robot_type>-<rasp_id>
  • Added a mDNS service to allow the robot to be discovered on the network
  • Added topic /niryo_robot/max_acceleration_scaling_factor to check current acceleration percentage
  • Refacto of the wifi button handling: the name reflects its real job, managing solely the hotspot
  • Disabled torque of steppers not being calibrated during factory calibration
  • S3Client: Use internet connection observable to check if the robot is connected to the internet
  • S3Client: Use SystemctlWrapper to restart NTP service (used to sync the Raspberry Pi’s clock)
  • WebSocket: Return an acknowledge message on the register event containing the robot’s info (name, rasp_id, hw_version)
  • Allow multiple NS clients without needing to restart the service
  • New config handling: use lazy loading for variables dependent on other variables
  • AllowedNSClientsObservable now has a callback for external database updates
  • Add remaining number of NS available connections

Bug Fixes

  • Fix: use forward_kinematics_v2 in __ros_poses_from_robot_positions

  • Fix: P changes in DXL’s PID

  • Fixed a bug while setting acceleration from the /niryo_robot_arm_commander/set_acceleration_factor service, which always set it to 40%

  • Fixed the conveyors’ direction, which was inverted in the Modbus server

  • Fixed PoseMetada.from_dict, which wasn’t passing the ‘frame’ argument when using a PoseMetadata.v1

  • Fixed collision thresholds settings that weren’t correctly calling the setting of the 2nd threshold with the wrong datatype

  • Fixed a bug in __hotspot_state_callback that still processed the API response even if the request failed

  • Fixed tools transforms for Ned3 Pro

  • Fixed a missing offset in the URDF for Ned3 Pro

  • Fixed a goal tolerance too low for joint 1

  • Fix: increase remaining_ns_clients_slots instead of decreasing it

  • Fixed a misuse of Marker instead of Prefix in the S3Client

  • Fixed type errors in some standard_response calls

  • UpdateManager no longer bypasses the config_file_manager

  • Safe deserialization in the SocketIO event

  • Correct type hint for __auto_control_loop_thread

32Go SD Card
Close

Release notes

NiryoStudio 1.7.1 - 2024/10/09

New features

Multi-select in Blockly : Implemented multi-select functionality in Blockly, allowing users to select multiple blocks at once for bulk actions (e.g., delete, move). Multi-select is activated using the “Shift” key.

Unique Program Name Enforcement : Programs must now be saved with unique names to allow or prevent overwriting existing programs.

PyNiryo

Fixed : An error preventing PyNiryo dependencies installation during startup.

Blockly

Fixed : The Retry block was allowing multiple instructions but was only processing the first. Additionally, nested Retry blocks were not functioning correctly.

Fixed : Resolved discrepancies between analog input values displayed in Equipment and Blockly. Both views now show consistent values.

Fixed : When creating a new empty Blockly program, previous code was being saved. This is now fixed to ensure empty programs are saved without old code.

Library

Fixed : The list of programs in “Open Program” was sorted from oldest to newest. It is now fixed to show programs in reverse chronological order.

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New features

Support for Ned3 Pro within NiryoStudio.

Integration of Ned3 Pro into the 3D visualization.

Added an emergency stop modal for Ned3 Pro: displaying the robot’s status and logs.

Connection

Improved ROS connection.

Enhanced robot connection workflow: definition of a single source for connection information, thereby improving overall communication management with the robots.

Simplified robot search flow for a more intuitive user experience.

Added a reconnection management flow with retry or cancel options.

PyNiryo

Fixed an error preventing PyNiryo autocompletion from working within the IDE.

Equipments

Improved video stream management for the Vision Kit to reduce bandwidth usage when video feedback is not displayed.

Performance and System

Updated Electron and electron-builder to benefit from the latest features and bug fixes.

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Blockly

Fix: The home position button remains disabled when no programs are played.

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New features

TCP Profiles: Add custom TCP profile creation, saving, and library access for enhanced TCP management.

New Equipments Support: Add support for conveyor v2 and for vacuum pump v2 (Bundle Discovery).

Blockly

Library Upgrade: Upgrade Blockly to v11 and fix breaking changes.

While Block: Ensure highlighting is interrupted when a program is stopped.

Saving Issues: Fix an issue where creating a new program from an existing one does not save properly.

LED Block: Add a tooltip that specifies the number of LEDs the robot has.

Blockly Program Saving: Improved handling of Blockly programs that rely on robot-related resources. When disconnecting the robot (e.g., during trajectory usage), NiryoStudio now prompts users to save their programs to prevent data loss.

Network & Connection

Robot List: Add robot type badge to available robot list.

Robot Search : Improve robot search process.

Library

Position: Fix playable position in the library while disconnected.

My robot

Robot Speed: Can now set speed to 0.

Equipments

Conveyor : Fixing stop/play conveyor updates.

Electromagnet : The electromagnet was not visible in Unity.

Python

Mouse Cursor Color: Fix an issue with mouse cursor color to improve visibility.

Generals

Reset TCP : Fix reset TCP, convert m to mm.

Sounds: Fix minor sound issues.

Workspace Issues: Fix various workspace issues including focus and updates in the kit vision card, and manual IP modal robot connection display.

Launching: Fix an issue that allows NiryoStudio to be launched twice on Windows.

Offline Mode: Fix an issue that prevented NiryoStudio from starting in offline mode.

Translations and Bugs: Fix some translations and miscellaneous bugs.

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Python

Fix: “Stop” button in the Python section does not stop a running program.
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New Features

PyNiryo : Support of PyNiryo Librairy directlky in Python IDE.

Camera Profile : Add camera color profile management.

Dashboard

Robot download steps only displayed in English: Fixed the issue where robot download steps were not displayed in French.

Programs – Popup title “Show code” in English: Fixed the translation of the popup title.

Replace Scanner with New scan in My Connected Equipment: Updated the label from “Scanner” to “New scan”.

Library

Position – Capitalize link names: Fixed the link names to be in uppercase.

Block description overflow with 140 characters: Fixed the display issue with block descriptions overflowing.

Sounds – Adjust sound settings when robot is disconnected: Fixed the issue allowing sound adjustments when the robot is disconnected.

Userframe – Workspace – Replace Create new with Create: Updated the workspace creation label.

Update button names in popup: Updated the button names in popups.

Update page recording functionalities: Updated the functionalities on the recording page.

Update translation and add unit to sound duration description: Updated translations and units in sound descriptions.

My robot

Guest session : Fixed the issue where the create button activated without entering a date.

Formatting issue with new app version : Fixed formatting issues when updating the app.

My Account

Delete account : Fixed the confirm button activation. My information : Fixed the continue button activation. Data update only applied after logout: Fixed the issue where personal data updates were only applied after logging out. New account : Fixed the issue with loading the first page of account creation when clicking X.

Network & Connection

Notification message : Fixed the issue with notifications displaying “undefined”.

Connection indicators : Resolved the issue with connection indicators not refreshing.

Manual connection : Fixed the issue where the Enter key validated incorrect IP addresses.

Replace Password placeholder : Updated the password placeholder in the French version.

Performance

Improved NS logging system performance: Optimized the performance of the logging system.
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Release notes

Version 5.7.3 - 2025/03/10

Améliorations

  • refacto : Utilisation de roslibpy au lieu de rospy

Bug Fixes

  • Fix : le registre modbus des convoyeurs qui crashait
  • Fix : Publication sur le topic quand le serviceupdate_program est appelé
16Go SD Card
32Go SD Card

Améliorations

  • Verifie la validité de la trajectoire avant de l’exécuter et affiche un message d’erreur si un des points est en dehors de la limite
  • Pas de wait_for dans les noeuds des constructeurs. Utilisation à la place de callback / lazy loading
  • Expose le topic /niryo_robot_led_ring/led_ring_status à travers le led ring ros wrapper pour les 3 propriétés suivantes :

– is_autonomous

– animation_mode

– color

  • Expose le service /niryo_robot_led_ring/set_user_animation à travers le led ring ros wrapper avec la fonction set_user_animation. Toutes les fonctions d’animation de niveau supérieur utilisent celle-ci en interne.
  • Nouveau programme de démonstration, qui effectue les mêmes actions que le précédent mais de manière plus lisible dans le programme
  • Le programme de démonstration est également unique pour tous les robots.
  • Ajouter les fonctions manquantes à l’objet JointsPosition pour le rendre compatible avec set attr.
  • Désactive le timeout de la WebSocket client.
  • Ajout optional: true à l’interface eth.

Bug Fixes

  • Fix une typo dans le service client arm commander ce qui previent au service d’être appelé pendant l’arret du robot et lors de l’utilisation de ros wrapper

  • Corrigé la transformation de la pointe de calibration du Ned3pro.

  • Fix un bug dans robot_state publisher ce qui évite une alerte quand on divise par 0

  • Résolution de plusieurs bugs liés à la simulation du robot qui l’empechait de fonctionner correctement

  • Ajout d’accessoires manquants dans la simulation

  • Le package Modbus n’est plus démarré pendant la simulation

  • Fixed the control loop which is not releasing its lock if the loop frequency is too fast

  • Fix les boucles de contrôle qui ne libéraient pas son verrouillage si la fréquence de la boucle était trop rapide.

  • Les moteurs fictifs ne nécessitent plus d’être calibrés en simulation.

  • Vérifie si un fichier audio est vide avant de le charger.

  • Le end effector continuait de publier l’état des boutons pendant que le calibrage est en cours.

  • Un bug empêchait l’API cloud de mettre à jour ses valeurs S/N et rasp_id

  • Correction : dhcp_server_reachable est plus fiable.

16Go SD Card
32Go SD Card

Improvements

  • Improve /niryo_robot/conveyor/feedback reactivity when a conveyor is added or removed
  • Added convenience function NiryoRosWrapper.init_with_node which init a ros node and returns a NiryoRosWrapper instance
  • Deprecate NiryoRosWrapper.move_relative
  • Added a param normalize=True to NiryoRosWrapper.msg_from_pose
  • Add security checks to NiryoRosWrapper.unset_conveyor and NiryoRosWrapper.control_conveyor
  • NiryoRosWrapper.get_conveyors_feedback now returns a list of dict instead of a list of ConveyorFeedback messages
  • Added the following functions to the TCP server:
    • GET_POSE_V2
    •  FORWARD_KINEMATICS_V2
    • INVERSE_KINEMATICS_V2
    • GET_TCP
    • GET_CONVEYORS_FEEDBACK
  • Revert –robot_type arg deletion but set it deprecated to avoid breaking changes

Bug Fixes

  • Fixed wrong camera and gripper transforms in Ned3pro and Ned2’s URDF for simulation
  • Fixed a bug which prevented the jog feature to work
  • Use lazy loading from database when getting the joints home position settings to prevent a bug where the robot was unable to access the database at boot time
  • Ned3pro digital inputs are now not inverted
  • Fixed the jog features
  • Fixed NiryoRosWrapper.__get_obj_from_args which didn’t work with JointsPosition
  • Fixed NiryoRosWrapper.forward_kinematics which returned v2 metadata despite being a v1 pose
  • Fixed NiryoRosWrapper.inverse_kinematics which returned was converting poses to v2 before doing the inverse kinematics
  • Fixed a bug in Pose which was allocating the same instance of PoseMetadata when using the constructor’s default metadata value
  • Fixed a bug where memory was allocated and not freed each time the program player’s node tried to connect to an inexistant device
  • Fixed a bug in Tool ROS wrapper which was not using the correct service type when calling tool reboot service
  • Use correct message type for ros subscriber in arm_state
  • WifiClient.get_configured_networks now parse correctly SSIDs with characters different than `[0-9a-zA-Z- ]`
  • Missing type for environment default insertion in base.py
  • Fixed a bug which caused to set the default ethernet mode to DHCP instead of AUTO if not in DB
  • WifiClient can handle SSIDs with any unicode characters
16Go SD Card
32Go SD Card

Features

  • Implemented NED3 hardware changes into the niryo_robot_rpi package
  • Added support for NED3 calibration
  • Added support for the conveyor with NED3 stepper motor
  • Added support for vacuum pump v2
  • Added velocity and acceleration profiles for vacuum pump v2
  • Updated the robot’s URDF to follow the Denavit-Hartenberg convention
  • Introduced new Pose and JointsPosition classes
  • The /niryo_robot_arm_commander/robot_action action server now handles both old and new TCP versions using the tcp_version field in ArmMoveCommand.msg
  • Updated niryo_robot_poses_handlers grip files to align with the new TCP orientation
  • Added pose_version and tcp_version to NiryoPose.msg
  • New generic classes designed to represent data:
    • JointsPosition
    • JointsPositionMetadata
    • Pose
    • PoseMetadata
  • New functions in niryo_robot_poses_handlers/transform_functions: convert_legacy_rpy_to_dh_convention() and convert_dh_convention_to_legacy_rpy()
  • Added new functions to ros_wrapper.NiryoRosWrapper that can take either Pose or JointsPosition objects:
    • move, replacing move_joints, move_pose, and move_linear_pose
    • jog_shift, replacing jog_joints_shift and jog_pose_shift
    • pick, replacing pick_from_pose
    • place, replacing place_from_pose
    • execute_trajectory, replacing execute_trajectory_from_poses and execute_trajectory_from_poses_and_joints
    • compute_trajectory, replacing compute_trajectory_from_poses and compute_trajectory_from_poses_and_joints
  • New TCP server commands: GET_COLLISION_DETECTED, CLEAR_COLLISION_DETECTED, HANDSHAKE, MOVE, JOG, PICK, PLACE, EXECUTE_TRAJECTORY
  • Updated tool translation transforms to match the new TCP orientation
  • Added hardware ID to the conveyors (v2 and v3)
  • The new robot pose is now published on /niryo_robot/robot_state_v2 for compatibility with older NiryoStudio versions
  • The new relative robot pose is published on /niryo_robot_poses_handlers/relative_pose_v2 for compatibility with older NiryoStudios
  • Added a service to retrieve the conveyor hardware ID to differentiate between v2 and v3 models, service name: /niryo_robot/conveyor/get_hardware_id
  • Added services for forward and inverse kinematics using the new TCP convention (Z-axis pointing forward)
  • Added a ROS wrapper function to get forward kinematics using the new TCP convention (Z-axis pointing forward)
  • Introduced a new ROS topic /niryo_robot_tools_commander/tcp_v2, which publishes the transform from hand_link to the TCP following the new TCP convention
  • Adjusted robot’s pose limits for NED3 to match its reachability
  • New ethernet mode: auto
    • Automatically detects if the robot is connected to a DHCP network; switches to DHCP mode if detected, otherwise defaults to IPV4LL mode

Improvements

  • Used the I/O panel version instead of the robot hardware version to differentiate implementations
  • Created a set of gpio_expander_adapters classes to handle GPIOs similarly to how MCP IOs are handled
  • Updated the DACx0501 driver
  • NiryoRosWrapper.vision_pick now accepts an optional observation pose (obs_pose)
  • Added speed limit percentage for the conveyor
  • When a tool stops moving, a position-holding command is sent instead of resending the max position command, significantly reducing temperature rise
  • Updated Dynamixel PID for axes 4 to 6

Bug Fixes

  • Stopping a program now sends SIGTERM, followed by SIGKILL after 3 seconds if the program doesn’t exit gracefully
  • Grasp and release actions now use feedback to determine completion rather than stopping after a fixed time
  • Debounced emergency stop resume to avoid resuming on small 12v spikes
  • Renaming a dynamic frame now also updates its name in the transform
  • Fixed NiryoRosWrapper.get_workspace_list to no longer return an error
  • The TCP server’s __send_answer_with_payload now encodes the payload only if it’s not already encoded
  • Fixed intermittent delay in the control loop caused by a ROS spinOnce call
  • Fixed a bug causing the FirmwareUpdater to crash when the end effector version was not set
16Go SD Card
32Go SD Card

Features

  • Implemented NED3 hardware changes into the niryo_robot_rpi package
  • Added support for NED3 calibration
  • Added support for the conveyor with NED3 stepper motor
  • Added support for vacuum pump v2
  • Added velocity and acceleration profiles for vacuum pump v2
  • Updated the robot’s URDF to follow the Denavit-Hartenberg convention
  • Introduced new Pose and JointsPosition classes
  • The /niryo_robot_arm_commander/robot_action action server now handles both old and new TCP versions using the tcp_version field in ArmMoveCommand.msg
  • Updated niryo_robot_poses_handlers grip files to align with the new TCP orientation
  • Added pose_version and tcp_version to NiryoPose.msg
  • New generic classes designed to represent data:
    • JointsPosition
    • JointsPositionMetadata
    • Pose
    • PoseMetadata
  • New functions in niryo_robot_poses_handlers/transform_functions: convert_legacy_rpy_to_dh_convention() and convert_dh_convention_to_legacy_rpy()
  • Added new functions to ros_wrapper.NiryoRosWrapper that can take either Pose or JointsPosition objects:
    • move, replacing move_joints, move_pose, and move_linear_pose
    • jog_shift, replacing jog_joints_shift and jog_pose_shift
    • pick, replacing pick_from_pose
    • place, replacing place_from_pose
    • execute_trajectory, replacing execute_trajectory_from_poses and execute_trajectory_from_poses_and_joints
    • compute_trajectory, replacing compute_trajectory_from_poses and compute_trajectory_from_poses_and_joints
  • New TCP server commands: GET_COLLISION_DETECTED, CLEAR_COLLISION_DETECTED, HANDSHAKE, MOVE, JOG, PICK, PLACE, EXECUTE_TRAJECTORY
  • Updated tool translation transforms to match the new TCP orientation
  • Added hardware ID to the conveyors (v2 and v3)
  • The new robot pose is now published on /niryo_robot/robot_state_v2 for compatibility with older NiryoStudio versions
  • The new relative robot pose is published on /niryo_robot_poses_handlers/relative_pose_v2 for compatibility with older NiryoStudios
  • Added a service to retrieve the conveyor hardware ID to differentiate between v2 and v3 models, service name: /niryo_robot/conveyor/get_hardware_id
  • Added services for forward and inverse kinematics using the new TCP convention (Z-axis pointing forward)
  • Added a ROS wrapper function to get forward kinematics using the new TCP convention (Z-axis pointing forward)
  • Introduced a new ROS topic /niryo_robot_tools_commander/tcp_v2, which publishes the transform from hand_link to the TCP following the new TCP convention
  • Adjusted robot’s pose limits for NED3 to match its reachability
  • New ethernet mode: auto
    • Automatically detects if the robot is connected to a DHCP network; switches to DHCP mode if detected, otherwise defaults to IPV4LL mode

Improvements

  • Used the I/O panel version instead of the robot hardware version to differentiate implementations

  • Created a set of gpio_expander_adapters classes to handle GPIOs similarly to how MCP IOs are handled

  • Updated the DACx0501 driver

  • NiryoRosWrapper.vision_pick now accepts an optional observation pose (obs_pose)

  • Added speed limit percentage for the conveyor

  • When a tool stops moving, a position-holding command is sent instead of resending the max position command, significantly reducing temperature rise

  • Updated Dynamixel PID for axes 4 to 6

Bug Fixes

  • Stopping a program now sends SIGTERM, followed by SIGKILL after 3 seconds if the program doesn’t exit gracefully
  • Grasp and release actions now use feedback to determine completion rather than stopping after a fixed time
  • Debounced emergency stop resume to avoid resuming on small 12v spikes
  • Renaming a dynamic frame now also updates its name in the transform
  • Fixed NiryoRosWrapper.get_workspace_list to no longer return an error
  • The TCP server’s __send_answer_with_payload now encodes the payload only if it’s not already encoded
  • Fixed intermittent delay in the control loop caused by a ROS spinOnce call
  • Fixed a bug causing the FirmwareUpdater to crash when the end effector version was not set
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Improvements

  • The service /niryo_robot/kinematics/forward now includes status and message in its response.
  • The service /niryo_robot/kinematics/inverse now includes status and message in its response.
  • Introduction of a new Modbus server.
  • Enhanced functionalities in ros_wrapper: get_current_tool_state, get_tcp, get_digital_io_mode, get_available_disk_size, get_ros_logs_size, control_video_stream.
  • Addition of new endpoint in system_api_client: get_system_version_current.
  • Increased threshold for end effector collision detection.

Bug Fixes

  • The set_program_autorun service did not consider the mode when transitioning to “DISABLE”.
  • Correction made to the /niryo_robot/kinematics/forward service, which occasionally crashed due to transformation extrapolation.
    In ros_wrapper, __conveyor_id_to_conveyor_number no longer depends on currently attached conveyors.
  • Fixed incorrect docstrings in ros_wrapper.
  • Fixed a bug preventing vision captures with enabled TCP transformation.
  • Fixed a bug that prevented a running program process from stopping completely.
  • Fixed a bug in NiryoActionClient that did not handle response timeouts.
  • Fixed a bug that could cause the tool commander action server to remain permanently blocked in active mode.
  • Fixed a bug preventing the tool commander action server from accepting new goals once a goal with a future date was published.
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