Commit e68b3d3c authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

update calibration for r2, comment main2 (#5)

parent ef65260f
calibration:
pos_ET: [0.1501786134967717, -0.04659369938483249, -0.03661155990250987]
pos_WR: [-0.02293947304529091, 0.583177964050816, -0.13394458346472132]
quat_ET: [-0.2705980500730985, -0.6532814824381882, 0.27059805007309845, 0.6532814824381883]
quat_WR: [0.005077893908742152, 0.007918175551724624, 0.013359410788764806, 0.9998665129069784]
measurements:
errors:
- [-0.0002168960447584468, -0.0010668195200736752, 0.00018006898437752938]
- [0.00016928366139346007, 0.0005170638802264593, 0.00037850513702630817]
- [0.0011599950953162796, 0.0003526010651510314, -0.00012294180296171242]
- [-0.0003939341283262232, -0.00011329636962762249, -0.00038522469969973216]
- [-0.0007184485836231325, 0.00031045094431508824, -5.0407618752634775e-05]
pos_RE:
- [0.0584231472040356, -0.7888108610213361, 0.29224624613259653]
- [-0.1453238446293856, -0.35482213917107674, 0.28432730816842033]
- [0.2834969700403753, -0.36612935013429077, 0.291672094257169]
- [-0.3807992876767562, -0.566308084352216, 0.28314301995943336]
- [0.4842187683428001, -0.2379454794306125, 0.19894353741958098]
quat_RE:
- [0.27030443249517855, 0.6529994452370946, -0.2706893166892845, 0.6536471006007708]
- [0.2702398705984472, 0.6530912744201057, -0.27078819741106336, 0.6535410865111108]
- [0.27031418268873514, 0.653199293004063, -0.2706655963918572, 0.6534531820919948]
- [0.3529762575660405, 0.353731950105599, -0.1464218844920094, 0.8537224963716084]
- [0.0744084309460823, 0.7683808434582252, -0.5132226899090738, 0.3750423114437397]
targets:
pos_W:
- [0, -0.215, 0]
- [-0.215, 0.215, 0]
- [0.215, 0.215, 0]
- [-0.322, 0, 0]
- [0.322, 0.322, 0]
......@@ -74,15 +74,15 @@ def execute_plan(plan,
rel_delay_arm = max(0, -relative_delay * (-1)**arm)
sleep_time = next_time - (time.time() - s) + rel_delay_arm + delays[arm]
if sleep_time > 0:
print("Sleeping for {}s until time for next traj".format(
sleep_time))
print("Sleeping for {}s until time for next traj".format(sleep_time))
time.sleep(sleep_time)
# Execute next trajectory
print("Printing {}th trajectory of arm {}, which is contour {}".format(
i_r[arm], arm, t.contour
))
retries = 0
# Extruding with trajectory
if t.contour is not None and contours is not None:
traj2send = speed_multiplier(t, 1/contour_speed)
while not controllers[arm].exec_ctraj(
......@@ -91,6 +91,8 @@ def execute_plan(plan,
wait=False) and retries < max_traj_retries:
retries += 1
time.sleep(retry_time)
# Movement only
else:
traj2send = speed_multiplier(t, 1/move_speed)
while not controllers[arm].exec_ctraj(traj2send, wait=False) \
......@@ -99,7 +101,7 @@ def execute_plan(plan,
time.sleep(retry_time)
if retries == max_traj_retries:
print("---\nFailed after {} retries, quitting".format(max_traj_retries))
print("\nFailed after {} retries, quitting".format(max_traj_retries))
sys.exit(0)
# Traj started now, measure delay
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment