# Define the x and y coordinates for 3 corners of the grid
grid_corners1: GridCorners = [
XYPoint(x = 0.25, y = 0), # Starting position
XYPoint(x = 0.46, y = 0.1), # Length of the grid
XYPoint(x = 0.42, y = 0.35), # width of the grid
]
# 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
from typing import List, Tuple, NamedTuple
import time
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
