new calib positions for r1, safe fast calib for angles (#19)

calibrations/r1_tforms_alt.yaml

@@ -3,29 +3,15 @@ calibration:
   pos_WR: [0.033410320051684865, -0.5779185680332759, -0.129]
   quat_ET: [-0.2705980500730985, -0.6532814824381882, 0.27059805007309845, 0.6532814824381883]
   quat_WR: [-0.0035406624036226648, 0.00401943913741378, -0.9999807593358486, 0.003128702105328147]
-measurements:
-  errors:
-  - [0.0007463740373759575, 0.0007358258676100349, 2.272630091060268e-08]
-  - [-0.0009020387968710353, 0.00016398070836140533, 1.617623791638767e-05]
-  - [-0.00032259677224483196, -0.000623335143616649, 4.8670205514383946e-05]
-  - [3.681804322736015e-05, 3.621990973879134e-05, -2.1586398841921817e-05]
-  - [0.00044144348854441295, -0.00031269134204364724, -4.3282771052338687e-05]
-  pos_RE:
-  - [0.08910742634272081, -0.7837172401184285, 0.27405864289606996]
-  - [-0.12486057160685166, -0.3528862439702894, 0.2790308995256403]
-  - [0.3056457370236582, -0.3563077645137278, 0.27594833824244247]
-  - [-0.3553141725527921, -0.56732851836896, 0.27599090687109595]
-  - [0.47642188171860617, -0.18642048697664007, 0.20344840058382788]
-  quat_RE:
-  - [0.2692242146471514, 0.6541983200550241, -0.27068386305481473, 0.6528959538598255]
-  - [0.26903425766037653, 0.6541193957881474, -0.2707136444182161, 0.6530409688409196]
-  - [0.2689585934995034, 0.6539863896443541, -0.2707389095513149, 0.653194856071048]
-  - [0.3517200864442189, 0.3547622789699167, -0.14691067603123373, 0.8537294416147239]
-  - [0.019597120228666234, 0.6766897609973048, -0.526359272046243, 0.5144442019996951]
 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]
-  - [0.322, 0, 0]
+  - [-0.215, 0, 0]
   - [-0.322, -0.322, 0]
+  - [0.322, 0, 0]

src/KeyboardController.py

@@ -602,31 +602,26 @@ class KeyboardController(Controller):
                     gpose.orientation.x, gpose.orientation.y, \
                             gpose.orientation.z, gpose.orientation.w = q
 
+                    # check angle diff from current pos
+                    cur_pose = self.group.get_current_pose().pose
+                    orientation_diff = sum([
+                        (cur_pose.orientation.x - gpose.orientation.x)**2,
+                        (cur_pose.orientation.y - gpose.orientation.y)**2,
+                        (cur_pose.orientation.z - gpose.orientation.z)**2,
+                        (cur_pose.orientation.w - gpose.orientation.w)**2])**0.5
+
+                    # go home in between if significant angle diff from vertical
+                    if orientation_diff > 0.1:
+                        self.move_home()
+
                     # compute path to next config
                     waypoints = [self.group.get_current_pose().pose, gpose]
                     plan, fraction = self.group.compute_cartesian_path(
                             waypoints,
                             0.01, # ee_step
                             0)
-
-                    speed_multiplier(plan.joint_trajectory, 4) # 4x slowers
-                    # display path on screen and confirm execution
-                    try:
-                        print("Displaying Trajectory to estimated point.")
-                        disp_traj = DisplayTrajectory()
-			disp_traj.trajectory_start = self.robot.get_current_state()
-			disp_traj.trajectory.append(plan)
-                        self.disp_traj_pub.publish(disp_traj)
-
-                        a = raw_input("Execute displayed Trajectory (y/n) ? ")
-                        if a == 'y':
-                            self.group.execute(plan, wait=True)
-                        else:
-                            print("OK, move manually to next pos.")
-
-		    except:
-                        Exception("Only calibrate one arm at a time")
-                time.sleep(1)
+                    speed_multiplier(plan.joint_trajectory, 4) # 4x slower
+                    self.group.execute(plan, wait=True)
 
                 with keyboard.Listener(
                         on_release = lambda key:self._move_callback(key,configurations,params),