updated calibrations

calibrations/r1_shear.yaml

-shear:
-targets:
-  - [0, 0.215, 0]
-  - [0.215, -0.215, 0]
-  - [-0.215, -0.215, 0]
-  - [0.322, 0, 0]
-  - [-0.322, -0.322, 0]

calibrations/r1_tforms.yaml

 calibration:
-  pos_ET: [0.14793146360636153, -0.052569355348980246, -0.0304177829795741]
-  pos_WR: [0.03341163962270335, -0.5830002666400109, -0.13579492883442026]
+  pos_ET: [0.1516247599700747, -0.04826058753450152, -0.03036614963144785]
+  pos_WR: [0.037166997252108196, -0.5810148525620379, -0.12919427413858414]
   quat_ET: [-0.2705980500730985, -0.6532814824381882, 0.27059805007309845, 0.6532814824381883]
-  quat_WR: [-0.002812767427926746, 0.005330795877670438, -0.9999768220406939, 0.00316643902540395]
+  quat_WR: [-0.005392743140044961, 0.003600395500710226, -0.9999445842160306, -0.008293610232815937]
 measurements:
   errors:
-  - [-0.00046900552814215304, 5.89895485395551e-05, 0.001172358762829756]
-  - [0.00047906573090522597, 0.0005370036718203412, -0.0009689908867283881]
-  - [-0.000613376961166201, -0.00029110804967108495, 0.0003828116067682019]
-  - [6.259618229875752e-05, -0.0007091459124015098, -0.0003828115659200715]
-  - [0.0005407205758771738, 0.00040426074178992986, -0.00020336791757535888]
+  - [0.0007437610852775028, -0.0006046658823261747, 4.24540212567992e-05]
+  - [-5.341005719901315e-05, 0.0008258059763807668, -0.00025936323953684726]
+  - [-2.5978214362745722e-05, 0.000830921551803393, 0.0006872667072718996]
+  - [0.0009255813671708024, -0.0005775288249141725, 0.0007949377003466374]
+  - [-0.0011982916905853291, -0.00014457194489120306, -0.0005646117382213378]
+  - [-0.0003916624902778332, -0.0003299608756595681, -0.0007006834508534732]
   pos_RE:
-  - [0.08853479155904041, -0.5697894971043413, 0.2762988275869424]
-  - [-0.3397702900448893, -0.5673326828532925, 0.2837794865741274]
-  - [-0.3522472294758017, -0.185006623752613, 0.2605544241109855]
-  - [0.4640504526825052, -0.20872380350171763, 0.23322086195591202]
-  - [0.4623170540561361, -0.5531256419342329, 0.23968272183571893]
+  - [0.18964825593079257, -0.6393758624911104, 0.27405794047855914]
+  - [-0.02513299849359395, -0.6415143098670496, 0.276673691958613]
+  - [-0.02863189112154032, -0.42751022007660805, 0.27727316990660483]
+  - [0.18630043922776565, -0.425373503530969, 0.2748589581050145]
+  - [-0.38396068975973835, -0.14623917383277024, 0.1688211394482065]
+  - [0.4994577109697928, -0.5286273105161743, 0.2063493951827226]
   quat_RE:
-  - [0.27267719384296685, 0.653875157298928, -0.26835994186736317, 0.6527460212258461]
-  - [0.3468441827819991, 0.39583630838015477, -0.1603396023903709, 0.8350472691671749]
-  - [0.17097363578838737, 0.3094649927659995, -0.2282317082128122, 0.9071437160030938]
-  - [0.06961549756967493, 0.7903705466894783, -0.2961400545184209, 0.5317604249412783]
-  - [0.12745875470923743, 0.8178485233463536, -0.20718603137739292, 0.521490179303739]
+  - [0.0016781248064298682, 0.7107460857758513, 0.0010961444418940741, 0.7034457931630576]
+  - [0.0017086822993063674, 0.7107165503472197, 0.0010233982081753635, 0.7034756698873499]
+  - [0.001617811545481769, 0.7107865379895457, 0.0010041419967081772, 0.703405197448448]
+  - [0.0017220571220963182, 0.7107738370839947, 0.0010186509096965209, 0.7034177630586873]
+  - [-0.5490333974463213, 0.3806146143013737, -0.057474162197170046, 0.7418837945045708]
+  - [0.0022238567542823004, 0.9257587065966942, 5.6159031643643816e-05, 0.3781082761163998]
 targets:
   pos_W:
-  - [0, 0, 0]
-  - [0.322, 0, 0]
+  - [-0.107, 0.107, 0]
+  - [0.107, 0.107, 0]
+  - [0.107, -0.107, 0]
+  - [-0.107, -0.107, 0]
   - [0.322, -0.322, 0]
-  - [-0.322, -0.322, 0]
   - [-0.322, 0, 0]

calibrations/r1_tforms_alt.yaml

-calibration:
-  pos_ET: [0.1502296461658024, -0.04698558961114961, -0.031116243011024135]
-  pos_WR: [0.03844669361396861, -0.572941079182837, -0.13103114911618197]
-  quat_ET: [-0.2705980500730985, -0.6532814824381882, 0.27059805007309845, 0.6532814824381883]
-  quat_WR: [-0.005519573998493153, 0.0023551564258786424, -0.999981578967214, 0.0009106411601250241]
-measurements:
-  errors:
-  - [0.00015395547326951808, 0.002142423630859619, 0.0003355815224046488]
-  - [-1.721708528695104e-05, 5.051743681194765e-05, 0.00041670383526773436]
-  - [0.00014560316238965143, -1.839592857558192e-05, -0.0009316653575424105]
-  - [3.161792856745671e-05, -2.53463553584113e-05, -9.16948482303781e-05]
-  - [-0.0010221720460194261, -1.0771535927212028e-05, 0.0012171946733552097]
-  - [-0.0010681151514920634, -0.0009799175199797783, 2.801905010083039e-05]
-  - [-6.682373151054022e-05, -0.0008270223124680898, -0.0008691193706457379]
-  - [2.541162594885127e-05, 0.0001367769605153022, 0.0006730588199809484]
-  - [0.001417878916551707, -0.0008426181698256152, -0.00037090151330573806]
-  - [0.0003998609358597527, 0.00037435379811547335, -0.0004071767733215548]
-  pos_RE:
-  - [0.28619790934684075, -0.7402544719962719, 0.2742202952337487]
-  - [0.07105893398903566, -0.7419692559154405, 0.2765033963380906]
-  - [-0.1437662590736294, -0.7416598402185833, 0.2802276770777924]
-  - [-0.1434836763099208, -0.5266801743305487, 0.2804022408548177]
-  - [-0.14417271043384325, -0.3116608075668326, 0.2801197811161653]
-  - [0.0708014310233577, -0.31297986484632256, 0.2789127806741849]
-  - [0.2867904938256065, -0.31325436323976485, 0.2774381453273922]
-  - [0.28647132057396424, -0.5272750808751241, 0.2748870851772862]
-  - [0.49198953051379024, -0.1614223801212086, 0.15202211073521693]
-  - [-0.36583396130433044, -0.5260828760890328, 0.26097777977314823]
-  quat_RE:
-  - [0.0010413200769373307, 0.7105862039337016, 0.0006649326483706677, 0.7036090678041056]
-  - [0.001084891693411131, 0.7106329642035853, 0.0006550901734732243, 0.7035617841057772]
-  - [0.0010554592940128175, 0.7106074401362242, 0.0007063304987061758, 0.7035875589618877]
-  - [0.0011041161037969283, 0.7106222933336699, 0.0007199736181426762, 0.7035724687498894]
-  - [0.0011314856150625339, 0.7105696678299577, 0.0006810590537584474, 0.7036256128502517]
-  - [0.00101736222811157, 0.7106283885489839, 0.0006081311970953219, 0.7035665487633834]
-  - [0.0010867007796504266, 0.7106128191421314, 0.0007128943418593383, 0.7035820720668952]
-  - [0.0010999875504787095, 0.7106047226468447, 0.0006587354591232912, 0.7035902815182887]
-  - [-0.14338537701650084, 0.8552601557202018, -0.3542228559665395, 0.34999552569454434]
-  - [0.00045600965998949725, 0.3870842766393148, 0.0012555108399978506, 0.922043371282685]
-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]

calibrations/r2_tforms.yaml

 calibration:
-  pos_ET: [0.1488171468456846, -0.04686485217586731, -0.035095146814831085]
-  pos_WR: [-0.02931384958017907, 0.58466302351586, -0.1316934641105142]
+  pos_ET: [0.14915829420325646, -0.04903787805768154, -0.03232536254175044]
+  pos_WR: [0.011423469251259488, 0.5808524197568566, -0.13575120770105137]
   quat_ET: [-0.2705980500730985, -0.6532814824381882, 0.27059805007309845, 0.6532814824381883]
-  quat_WR: [0.008022261429018376, 0.008125316357774606, 0.01045485586552175, 0.9998801520904802]
+  quat_WR: [0.0035729243703551505, 0.0090184032826521, 0.002047056792923897, 0.9999508548784594]
 measurements:
   errors:
-  - [5.1846390146870897e-05, 0.00030691774846666785, 0.0010110215380649545]
-  - [0.00018167102090665965, -0.000759081193754443, -0.0008193679078004334]
-  - [0.000194391696983931, 0.0005494323899110087, 0.0003138569589627438]
-  - [-8.201190917067613e-05, 0.00028870454631119147, -0.0003138568851014656]
-  - [-0.0003458971987621018, -0.000385973491800173, -0.0001916537074498348]
+  - [0.0007118948614319442, 0.00020913249133115708, -0.00013982777032800486]
+  - [-0.0006813977814875277, 2.8269230098881826e-06, 0.0002524142395778639]
+  - [-0.0007055083624778608, -0.0002221226048078062, 0.00025135210031412836]
+  - [0.00011358293984881085, -0.0004546972684680295, -0.00012133672899916625]
+  - [0.0003211694052368541, -2.7204811226755332e-05, 5.791637767843527e-06]
+  - [0.0002402589374698727, 0.0004920652701387751, -0.00024839347837310455]
   pos_RE:
-  - [0.07275544830319396, -0.5749413387738368, 0.28924808394511986]
-  - [-0.3715128883934371, -0.5671397062274839, 0.2831112225940763]
-  - [-0.36462644731076826, -0.19130148925490986, 0.26265286827612966]
-  - [0.4794826467941097, -0.20330658365563992, 0.19602027490241344]
-  - [0.47296386489378767, -0.5606350934475177, 0.2262932399015771]
+  - [-0.09190176234043812, -0.41829582452794056, 0.2852776829944212]
+  - [0.12348119855353104, -0.4189782488473766, 0.2887740203386506]
+  - [0.12262065357631115, -0.6328029955261978, 0.2903130029444766]
+  - [-0.09220405633842493, -0.631680524271811, 0.28680698507295094]
+  - [-0.42037948591155627, -0.1262502882163325, 0.18604966373794765]
+  - [0.4333075100168432, -0.5273106873954909, 0.22786684131555804]
   quat_RE:
-  - [0.2706829915861124, 0.6531654411196126, -0.2706045045695171, 0.6533596457539296]
-  - [0.3534838188685447, 0.3533505941869676, -0.14626600388849248, 0.8536971380368558]
-  - [0.18017710742771842, 0.31848209717500664, -0.21248503636575283, 0.9060659319600504]
-  - [-0.022894739133654127, 0.8081731334988069, -0.4159917679276862, 0.41627258644681303]
-  - [0.08672168105814704, 0.8885355557732991, -0.1910458282531495, 0.4080262340440273]
+  - [0.006515580247030206, 0.7023024009900304, -0.01165454420868889, 0.7117535081592299]
+  - [0.0066305345146237035, 0.7023154257589007, -0.0117251170821735, 0.7117384353697317]
+  - [0.006786242123042527, 0.7023190309385575, -0.011622802796997279, 0.7117350884665691]
+  - [0.006686775020962695, 0.7022525601966544, -0.01159661125540998, 0.7118020422452117]
+  - [-0.34482086935268985, 0.34458102267952256, -0.1516325705466584, 0.8598662979890548]
+  - [0.0016689709834896748, 0.9211301185124712, -0.013746749614195232, 0.38900841402224406]
 targets:
   pos_W:
-  - [0, 0, 0]
-  - [-0.322, 0, 0]
+  - [-0.107, 0.107, 0]
+  - [0.107, 0.107, 0]
+  - [0.107, -0.107, 0]
+  - [-0.107, -0.107, 0]
   - [-0.322, 0.322, 0]
-  - [0.322, 0.322, 0]
   - [0.322, 0, 0]

calibrations/r2_tforms_alt.yaml

-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

@@ -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

@@ -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)