move_pose() is not working.

[zhaoza]

I am trying the pick and place sample program during the simulation. I can't use the move_pose() or pose functions. The error is as follows: (move_joints works fine)

_Traceback (most recent call last):
File "test1.py", line 49, in
pick_n_place_version_2(client)
File "test1.py", line 24, in pick_n_place_version_2
robot.move_pose(pick_pose_high)
File "/home/robotics/.local/lib/python3.6/site-packages/pyniryo/api/tcp_client.py", line 472, in move_pose
self.__send_n_receive(Command.MOVE_POSE, *pose_list)
File "/home/robotics/.local/lib/python3.6/site-packages/pyniryo/api/tcp_client.py", line 152, in __send_n_receive
return self.__receive_answer(with_payload=with_payload)
File "/home/robotics/.local/lib/python3.6/site-packages/pyniryo/api/tcp_client.py", line 138, in _receive_answer
raise NiryoRobotException("Command KO : {}".format(received_dict["message"]))
pyniryo.api.exceptions.NiryoRobotException: Command KO : 6 parameters expected but 7 given
In function

[ValentinPitre]

Hello, you don't have compatible versions of robot/pyniryo. For older versions, please use version 1.0.5 of pyniryo. The other way to get all the latest features is to update your robot.

See the compatibility table:
https://docs.niryo.com/dev/pyniryo/v1.1.2/en/index.html?lang=fr

[Gvny]

Hello,
I have the same problem but I'm not sure I have compatibility issue.
I use python 3.11.1 on Vs code directly commanding Ned. Aside I have nyrio studio 4.1.1 for prior connection.
The compatibility table compares pyniryo version to Ned version. Is Pyniryo version same with Python version? Or does it mean nyrio studio version?
At the end if I really need it, how can I get version 1.0.5 of pyniryo as the only one available is the 4.1.1?

[ValentinPitre]

You can see there the python versions compatible with pyniryo 1.0.5: https://pypi.org/project/pyniryo/1.0.5/
Python 3.11 is a too recent version of python to be compatible.

The NiryoStudio version is not the Robot version, you can check it on NiryoStudio directly.

For you, if you really want to stay on python 3.11, the best way is to update you robot to the last version through NiryoStudio.

If you have more troubles, you can directly ask your question to the support team on their website. I don't know if there are still reactive on github.

[Gvny]

Thank you for your response.
I've tried both.
First: intalling pyniryo 1.0.5 and python 3.5 instead of the 3.11 I was using.
But even the line "from pyniryo import* " does not work. The version seems to be too old..
So, I came back to the 3.11 version and
then trying to update the robot which characteristics are bellow:

I connected to the ned through a wifi network. Once the connection is done, the ned led turned green and a pop - up displayed and showed updates are available. But when I click on the update button, it redirect me to this page (https://docs.niryo.com/product/niryo-studio/v4.1.1/en/source/settings.html#ned-software-update) and no update starts..

Can you suggest something to achieve the update? Or to have a good versions alignment according to the current robot status on the snapshot attached before?
Thanks

[ValentinPitre]

You can also update your robot manually:

• Unscrew the screws located on the top of the base for NED or just simply watch under the robot for the Niryo One
• Remove the SD card of the raspberry pi
• Download the latest image version on this website: https://niryo.com/download
• Flash the SD card with this image with a flashing software like Balena etcher
• Replace the SD card and restart

For the Niryo One, you have a tutorial here: https://niryo.com/docs/niryo-one/update-your-robot/update-raspberry-pi-image/

[The-Kriz]

I had the same issue:

The reason for this issue is due to installation of different PyNiryo version

in my case:

Robot Software version is 4.0.1

And the PyNiryo version installed at the time was 1.1.2

These 2 different versions does not work together

https://docs.niryo.com/dev/pyniryo/v1.1.2/en/index.html

PyNiryo version	ROS Stack version	Robot
<= 1.0.5	<= 3.2.0	Ned
1.1.0	4.0.0	Niryo One, Ned, Ned2
1.1.1	4.0.1	Niryo One, Ned, Ned2
1.1.2	>=4.1.1	Niryo One, Ned, Ned2

So i reinstalled my PyNiryo version to 1.1.1 from 1.1.2 (which is an easy fix)
or you can just upgrade the ROS Stack version

Hope this will fix your issue