Metadata-Version: 2.1
Name: covmatic-robotmanager
Version: 0.0.2
Summary: Covmatic Robot Manager is a robotic arm manager for action requested by other robots
Author-email: Agostino Facotti <agostino.facotti@asst-bergamoest.it>
License-File: LICENSE
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: OS Independent
Classifier: Programming Language :: Python :: 3
Requires-Python: >=3.7
Requires-Dist: configargparse
Requires-Dist: evasdk
Requires-Dist: flask
Requires-Dist: flask-restful
Requires-Dist: waitress
Description-Content-Type: text/markdown

# RobotManager
Manager code for EVA robot from Automata.

## Warning
**This is a development program and not ready for production-use.
This is part of a project in development.**

## Use

The *covmatic-robotmanager* comes with two scripts callable in a command shell:
- *robotmanager-calibrator* is a helper program useful to save precise and repeatable calibrations.
- *robotmanager-server* is the main server that listen for actions to do;

## Data organization

The data organization has these objects:
- a **target robot** intended as a machine or entity made of reachable points;
- a **slot** intended as a part of a * target robot* to be reached.

For proper movement each *target robot* needs these point calibrated in order:
1. **HOME** is the starting position that Eva will go to before entering the target robot.
   Eva should move freely between *HOME*s positions.
2. **DECK** is a position where the gripper touches the deck of the target robot.
   This value is used to calculate heights of labware.
3. **HMAX** is the maximum height reachable, calibrated with the Eva arm in the highest possibile position.

After defining these three basic positions you can define any other position for a target robot.
The Eva will use this data to calculate and execute a safe trajectory to pick up or drop off a plate.

## Calibration
Calibrations are saved using the *robotmanager-calibrator* program.
Positions data are saved in the user home folder.

