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bigprint
twins-controller
Commits
541316bb
Commit
541316bb
authored
Feb 18, 2021
by
Jayant Khatkar
Browse files
Options
Browse Files
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Plain Diff
updated calibrations
parent
76e31e62
Changes
9
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Inline
Side-by-side
Showing
9 changed files
with
57 additions
and
158 deletions
+57
-158
calibrations/r1_shear.yaml
calibrations/r1_shear.yaml
+0
-7
calibrations/r1_tforms.yaml
calibrations/r1_tforms.yaml
+25
-21
calibrations/r1_tforms_alt.yaml
calibrations/r1_tforms_alt.yaml
+0
-51
calibrations/r2_tforms.yaml
calibrations/r2_tforms.yaml
+25
-21
calibrations/r2_tforms_alt.yaml
calibrations/r2_tforms_alt.yaml
+0
-51
src/KeyboardController.py
src/KeyboardController.py
+6
-6
src/main2.py
src/main2.py
+1
-1
src/plans/r1_cal_test.plan
src/plans/r1_cal_test.plan
+0
-0
src/plans/r2_cal_test.plan
src/plans/r2_cal_test.plan
+0
-0
No files found.
calibrations/r1_shear.yaml
deleted
100644 → 0
View file @
76e31e62
shear
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calibrations/r1_tforms.yaml
View file @
541316bb
calibration
:
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calibrations/r1_tforms_alt.yaml
deleted
100644 → 0
View file @
76e31e62
calibration
:
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calibrations/r2_tforms.yaml
View file @
541316bb
calibration
:
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-
[
0.322
,
0
,
0
]
calibrations/r2_tforms_alt.yaml
deleted
100644 → 0
View file @
76e31e62
calibration
:
pos_ET
:
[
0.14835884926437554
,
-0.05101569978608572
,
-0.03124000565994875
]
pos_WR
:
[
-0.010627418386437387
,
0.5839227870056072
,
-0.13693908973951746
]
quat_ET
:
[
-0.2705980500730985
,
-0.6532814824381882
,
0.27059805007309845
,
0.6532814824381883
]
quat_WR
:
[
0.004018429299237062
,
0.006996625665453779
,
0.01340808587420297
,
0.9998775538476972
]
measurements
:
errors
:
-
[
0.0006813236515303134
,
0.0006129463435987914
,
0.0013929481667337429
]
-
[
-0.00024725918644739474
,
9.404169251286953e-05
,
0.0009602953673004955
]
-
[
0.0015576293425343946
,
0.0006883912204642406
,
-0.00029308687109605436
]
-
[
0.000779930719445765
,
0.0003759806859402132
,
0.0008271893820498699
]
-
[
7.304459701060195e-05
,
0.0006736893226877705
,
0.0003368886434861884
]
-
[
-0.0003570847499106723
,
-0.0007262376789738401
,
0.0005382805359192
]
-
[
-0.0002364070053330336
,
-0.0011664539061476131
,
-0.001154907061033994
]
-
[
-0.0001352077455830103
,
-0.00013061365006294696
,
0.00028429478497893346
]
-
[
-0.0015476814890094115
,
-0.0009546802712636637
,
-0.0015623505751230782
]
-
[
-0.0005682881342172763
,
0.0005329362411927233
,
-0.001329552373290216
]
pos_RE
:
-
[
-0.2516333141744929
,
-0.4116135285217244
,
0.2838269936302523
]
-
[
-0.03569841229825402
,
-0.4168126158425754
,
0.28734125017362583
]
-
[
0.24244995801074226
,
-0.3227479442687924
,
0.2916273069796633
]
-
[
0.2374514574589102
,
-0.5372722864969137
,
0.2921697532987558
]
-
[
0.23239976869138032
,
-0.752604723454361
,
0.29438911948400937
]
-
[
0.01793577852956694
,
-0.7454651413961082
,
0.2911579226345641
]
-
[
-0.19707881059004123
,
-0.7392570518696477
,
0.2898110516380218
]
-
[
-0.19142090121444796
,
-0.5253758527490331
,
0.2866899174595985
]
-
[
0.4514052192838754
,
-0.17315530120426997
,
0.16782516172568673
]
-
[
-0.41181446035551367
,
-0.5231822041500221
,
0.26474937945857546
]
quat_RE
:
-
[
-0.7125705366105385
,
0.012338676350220358
,
0.7014665647172886
,
0.005970427473748586
]
-
[
-0.712339087472529
,
0.012479682698013866
,
0.7017001944059005
,
0.005841159926140043
]
-
[
0.005776243616249791
,
0.7017154369662358
,
-0.012225265761511742
,
0.7123290134551805
]
-
[
0.005659374403786875
,
0.7015898303485616
,
-0.012702699723373503
,
0.7124453121837298
]
-
[
0.0058284701671850805
,
0.7017109355724586
,
-0.012335409034162628
,
0.7123311235075266
]
-
[
0.005855945398806817
,
0.7016197380345921
,
-0.01237868643592102
,
0.7124199739099665
]
-
[
0.005885376929000516
,
0.701654436032305
,
-0.012414365346432909
,
0.7123849368618322
]
-
[
0.005851425014664891
,
0.7016348575693929
,
-0.012422089098676122
,
0.7124043649299883
]
-
[
-0.14844789488467267
,
0.8452562622375918
,
-0.3653918924445301
,
0.3605465831043883
]
-
[
0.010261743930004405
,
0.3753576819693063
,
-0.009272099412404424
,
0.9267768530615288
]
targets
:
pos_W
:
-
[
-0.215
,
0.215
,
0
]
-
[
0
,
0.215
,
0
]
-
[
0.215
,
0.215
,
0
]
-
[
0.215
,
0
,
0
]
-
[
0.215
,
-0.215
,
0
]
-
[
0
,
-0.215
,
0
]
-
[
-0.215
,
-0.215
,
0
]
-
[
-0.215
,
0
,
0
]
-
[
0.322
,
0.322
,
0
]
-
[
-0.322
,
0
,
0
]
src/KeyboardController.py
View file @
541316bb
...
...
@@ -662,14 +662,14 @@ class KeyboardController(Controller):
if
__name__
==
"__main__"
:
#
con = KeyboardController(disableExtruder=True)
con
=
KeyboardController
(
disableExtruder
=
True
)
#con = KeyboardController()
con1
=
KeyboardController
(
robot
=
1
)
#, disableExtruder=True
con2
=
KeyboardController
(
robot
=
2
)
#
con1 = KeyboardController(robot=1) #, disableExtruder=True
#
con2 = KeyboardController(robot=2)
print
(
'Collecting configrations...'
)
#
configuations = con.prompt_configurations()
configuations
=
con1
.
prompt_configurations
()
configuations
=
con2
.
prompt_configurations
()
configuations
=
con
.
prompt_configurations
()
#
configuations = con1.prompt_configurations()
#
configuations = con2.prompt_configurations()
print
(
'Your configurations:'
)
print
(
configuations
)
src/main2.py
View file @
541316bb
...
...
@@ -121,4 +121,4 @@ if __name__ == '__main__':
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.
33
,
contours
=
contours
)
execute_plan
(
plan2arms
,
r1_con
,
r2_con
,
move_speed
=
0.
25
,
contours
=
contours
)
src/plans/r1_cal_test.plan
View file @
541316bb
No preview for this file type
src/plans/r2_cal_test.plan
View file @
541316bb
No preview for this file type
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