PyNiryo Nate
=====================================

``pyniryo-nate`` is the Python client of the Niryo Nate robot API. It drives the arm, reads and writes
the IOs, runs and manages programs, and subscribes to the robot's events, from a remote host or from a
program the robot runs itself.

Install
-------------------------------------

The package is on PyPI and supports Python 3.10 and later:

.. code-block:: bash

    pip install pyniryo-nate

First steps
-------------------------------------

Connect with the address and the credentials of a user of the robot, then move the arm. The key
selector of the robot must be on manual, see :doc:`api/direct_control`.

.. code-block:: python
   :linenos:

    from pyniryo_nate import Nate
    from pyniryo_nate.models import Joints

    with Nate(hostname="10.10.10.10", login=("user", "secret")) as nate:
        print(nate.device.get_identity())
        nate.robot.move(Joints(0, 0, 0, 0, 0, 0)).wait()

The same client reads ``NATE_HOSTNAME``, ``NATE_USERNAME`` and ``NATE_PASSWORD`` from the environment
when the constructor is given nothing, and a program run by the robot needs neither address nor
credentials. :doc:`api/connecting` covers both.

.. toctree::
   :caption: Guides
   :maxdepth: 1

   api/connecting
   api/direct_control
   api/custom_metrics
   api/tool_io
   api/controller_io

.. toctree::
   :caption: API reference
   :maxdepth: 1

   api/api

Indices and tables
=====================================

* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`