def eva(ip, token):
e = Eva(ip, token, request_timeout=10, renew_period=2 * 60)
e._Eva__logger.setLevel(logging.DEBUG)
e._Eva__http_client._EvaHTTPClient__logger.setLevel(logging.DEBUG)
yield e
if e.lock_status()['status'] != 'unlocked':
e.unlock()
def test_user_agent(self, **kwargs):
eva = Eva("example.com", "NONE")
kwargs['mock'].register_uri(
'GET',
'http://example.com/api/versions',
request_headers={
'User-Agent': 'Automata EvaSDK/0.0.dev0 (Python)',
},
json={'APIs': ['v1']},
)
versions = eva.versions()
assert (versions['APIs'][0] == 'v1')
# Symmetrical grid
grid_corners2: GridCorners = [
XYPoint(x = 0.25, y = 0),
XYPoint(x = 0.46,y = -0.1),
XYPoint(x = 0.42, y = -0.35),
]
# Using the corners and an amount of rows and columns, make the Grid2D
my_test_grid1 = Grid2D(grid_corners1, rows = 4, columns = 4)
my_test_grid2 = Grid2D(grid_corners2, rows = 4, columns = 4)
# Connect to Eva
host_ip = "your host"
token = "your token"
eva = Eva(host_ip, token)
# Set some default poses and a default orientation
pose_home = [0.057526037, 0.7658633, -1.9867575, 0.026749607, -1.732109, -0.011505207]
end_effector_orientation = {'w': 0.0, 'x': 0.0, 'y': 1.0, 'z': 0.0}
# Be carefull with this dimension - depending on the type of gripper
grid_z_position: float = 0.27
print("Waiting for Robot lock")
with eva.lock():
print('Eva moving to home position')
eva.control_go_to(pose_home)
from evasdk import Eva
from grid2d import Grid2D, GridCorners, XYPoint
# Define the x and y coordinates for 3 corners of the grid
grid_corners: GridCorners = [
XYPoint(x = 0.25, y = 0),
XYPoint(x = 0.35, y = 0),
XYPoint(x = 0.35, y = 0.4),
]
# Using the corners and an amount of rows and columns, make the Grid2D
my_test_grid = Grid2D(grid_corners, rows = 4, columns = 4)
# Connect to Eva
host_ip = input("Please enter a Eva IP: ")
token = input("Please enter a valid Eva token: ")
eva = Eva(host_ip, token)
# Set some default poses and a default orientation
pose_home = [0.057526037, 0.7658633, -1.9867575, 0.026749607, -1.732109, -0.011505207]
end_effector_orientation = {'w': 0.0, 'x': 0.0, 'y': 1.0, 'z': 0.0}
grid_z_position: float = 0.4
print("Waiting for Robot lock")
with eva.lock():
print('Eva moving to home position')
eva.control_go_to(pose_home)
# For each grid position in the Grid2D
for grid_position in my_test_grid:
# Calculate joint angles for the grid position and goto those joint angles
print('Eva going to grid position x={:f}, y={:f}'.format(grid_position.x, grid_position.y))
from evasdk import Eva
from evaUtilities import EvaGrids
from config.config_manager import load_use_case_config
if __name__ == "__main__":
# Load use-case parameters
config = load_use_case_config()
# Connection to robot
host = config['EVA']['comm']['host']
token = config['EVA']['comm']['token']
eva = Eva(host, token)
# Compute grid points and robot joints
eva_box = EvaGrids(eva, config, show_plot=True)
joints = eva_box.get_grid_points(config['grids']['names'])
# Go home before starting
with eva.lock():
eva.control_go_to(config['EVA']['home'])
while True:
for counter in range(len(joints[(config['grids']['names'][0])]['pick'])):
joints_home = config['EVA']['home']
joints_pick = joints[config['grids']['names'][0]]['pick'][counter]
joints_drop = joints[config['grids']['names'][1]]['pick'][counter]
joints_pick_hover = joints[config['grids']['names'][0]]['hover'][counter]
joints_drop_hover = joints[config['grids']['names'][1]]['hover'][counter]
# USER DEFINED WAY-POINTS
#!/usr/bin/env python3
from evasdk import Eva
# This example shows usage of the eva_ws and eva_http modules, used for direct control
# using the network interfaces. eva_http also contains some helper functions not
# contained in the public API, such as lock_wait_for.
host_ip = input("Please enter a Eva IP: ")
token = input("Please enter a valid Eva token: ")
print(f'ip: [{host_ip}], token: [{token}]\n')
eva = Eva(host_ip, token)
users = eva.users_get()
print(f'Eva at {host_ip} users: {users}\n')
joint_angles = eva.data_servo_positions()
print(f'Eva current joint angles: {joint_angles}')
with eva.websocket() as ws:
ws.register('state_change', print)
input('press return when you want to stop\n')
#!/usr/bin/env python3
from evasdk import Eva
import json
# This example shows usage of the Eva object, used for controlling Eva,
# reading Eva's current state and responding to different events triggered
# by Eva's operation.
host_ip = input("Please enter a Eva IP: ")
token = input("Please enter a valid Eva token: ")
eva = Eva(host_ip, token)
# Send Eva to a waypoint
with eva.lock():
eva.control_wait_for_ready()
eva.control_go_to([0, 0, 0, 0, 0, 0])
# Print Eva's toolpaths
toolpaths = eva.toolpaths_list()
outToolpaths = []
for toolpathItem in toolpaths:
toolpath = eva.toolpaths_retrieve(toolpathItem['id'])
outToolpaths.append(toolpath)
print(json.dumps(outToolpaths))
# Create a basic toolpath and execute it
toolpath = {
"metadata": {
"version": 2,