state at the end of hardware run

src/main1.py

@@ -20,7 +20,7 @@ from Controller import Controller
 
 
 # NEED TO CHANGE
-robot_num = 1 # 0 or 1
+robot_num = 0 # 0 or 1
 robot_desc_param = "/r{}/robot_description".format(robot_num+1)
 
 
@@ -91,7 +91,7 @@ def gohome(arm):
 
 
 if __name__ == '__main__':
-    plan = load_plan('r2_test')
+    plan = load_plan('cal_points')
 
     # Test calibration
     con = Controller(robot=robot_num+1, disable_extruder=True) # one arm when both arms running

src/main2.py

@@ -116,8 +116,10 @@ def execute_plan(plan,
 
 
 if __name__ == '__main__':
-    plan2arms = load_plan('y_short')
+    plan2arms = load_plan('tree2_split')
 
     r1_con = Controller(robot=1, disable_extruder=True)
     r2_con = Controller(robot=2, disable_extruder=True)
-    execute_plan(plan2arms, r1_con, r2_con, move_speed=0.8, last_completed_trajs=[59,64])
+    execute_plan(plan2arms, r1_con, r2_con, move_speed=0.7,
+        last_completed_trajs=[192,296], # not implemented correctly - dangerous - use carefully
+            )