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
joints_operation_A = []
joints_operation_B = []
joints_operation_C = []
tool_path_grid_to_grid = {
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)
for grid_position in my_test_grid1:
# 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))
# Initial hover position
hover_position1 = {'x': grid_position.x, 'y': grid_position.y, 'z': grid_z_position+0.1}
position_hover_angles = eva.calc_inverse_kinematics(pose_home, hover_position1, end_effector_orientation)
eva.control_go_to(position_hover_angles['ik']['joints'])
# Target position on the grid
target_position1 = {'x': grid_position.x, 'y': grid_position.y, 'z': grid_z_position}
position_joint_angles = eva.calc_inverse_kinematics(pose_home, target_position1, end_effector_orientation)
eva.control_go_to(position_joint_angles['ik']['joints'])
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,
"default_max_speed": 0.25,
"payload": 0,