SDK for the Automata Eva robotic arm
Project description
Eva Python SDK 
The Eva Python SDK provides convenient access to the Automata Eva API from applications written in Python 3.
* This SDK is currently in beta
Installation
Requires Python 3, not compatible with Python 2
Pip
Make sure you have Python3 and pip installed, then run the following command:
$ pip install evasdk
# Or for a specific version, i.e the lastest compatible version 2.x.x:
$ pip install evasdk~=2.0.0
Pipenv
Make sure you have Python3 and Pipenv installed, then run the following command:
$ pipenv install evasdk
# Or for a specific version, i.e the lastest compatible version 2.x.x:
$ pipenv install evasdk~=2.0.0
Detail Instructions
If your not familiar with Python or for more detailed instructions please refer to our wiki:
Examples
The following section provides some getting started example code, for more detailed examples please go to our eva_examples repository.
Eva
The Eva object allows you to directly control an Eva robot. It provides lots of useful helper function for interacting with the robot.
Connecting
host = '<your_eva_IP_here>'
token = '<your_token_here>'
eva = Eva(host, token)
GoTo movement
eva = Eva(host_ip, token)
with eva.lock():
eva.control_wait_for_ready()
eva.control_go_to([0, 0, 0, 0, 0, 0], mode='teach')
Toolpath create and run
toolpath = {
"metadata": {
"version": 2,
"default_max_speed": 0.25,
"payload": 0,
"analog_modes": {
"i0": "voltage",
"i1": "voltage",
"o0": "voltage",
"o1": "voltage"
},
"next_label_id": 3
},
"waypoints": [{
"label_id": 1,
"joints": [0, 0.5235987755982988, -1.7453292519943295, 0, -1.9198621771937625, 0]
}, {
"label_id": 2,
"joints": [0.18392622441053394, 0.8259819316864014, -2.050006151199341, 0.1785774528980255, -1.6037521743774412, -0.549331545829773]
}],
"timeline": [{
"type": "home",
"waypoint_id": 0
}, {
"type": "trajectory",
"trajectory": "joint_space",
"waypoint_id": 1
}, {
"type": "trajectory",
"trajectory": "joint_space",
"waypoint_id": 0
}]
}
eva = Eva(host, token)
with eva.lock():
eva.control_wait_for_ready()
eva.toolpaths_use(toolpath)
eva.control_home()
eva.control_run(loop=1, mode='teach')
Please refer to the examples directory for more SDK usage examples.
evasdk.eva_http and evasdk.eva_ws
These can be used to interact directly with the HTTP and Websocket APIs. Useful when you don't want the managed websocket connection provided by the evasdk.Eva object.
Versioning
To determine which version of the SDK works with your Eva's software version number (found on the Choreograph config page), please use the following chart:
| SDK Version | Supported Eva Version |
|---|---|
| 1.0.0 | 2.0.0 - 2.1.2 |
| 2.0.0 | 3.0.0 - 3.0.1 |
| 3.0.0 - 4.0.0 | 3.1.0 |
For more information on how to install a particular version of the SDK, please refer to the Installation section. We use the Semver version numbering stratergy.
Logging
The SDK uses Debug and Error level logging exclusively. Each Eva instance will log using the name evasdk.Eva:<host_name_here>. If you wish to enable the debug logging:
logging.basicConfig(level=logging.DEBUG)
Bugs and feature requests
Please raise any bugs or feature requests as a Github issues. We also gratefully accept pull requests for features and bug fixes.
Testing
# to run all test files in tests directory:
$ pipenv run test
# or to run a single test file:
$ pipenv shell
$ python -m pytest tests/<test-name>_test.py
# some test require supplying ip and token via the `--ip` and `--token` arguements:
$ pipenv run test --ip 172.16.16.2 --token abc-123-def-456
# Tests requiring the robot or long amounts of time will not run by default,
# these require flags to be enabled, a full list of flags is availble with the help flag:
$ pipenv run test -h
License
This code is free to use under the terms of the Apache 2 license. Please refer to LICENSE for more information.
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