run calibrated plan on real hardware without extrusion (#12)

src/KeyboardController.py

@@ -592,7 +592,7 @@ class KeyboardController(Controller):
 
 
 if __name__=="__main__":
-    con = KeyboardController()
+    con = KeyboardController(disableExtruder=True)
 
     print('Collecting configrations...')
     configuations = con.prompt_configurations()

src/main.py

 import numpy as np
 import pickle
 import time
+import copy
 import sys
 
 # ROS Libraries
@@ -34,6 +35,7 @@ def execute_plan(plan, controller):
 
     # execute trajectories in plan
     for t in plan.trajs[0]:
+        print(t.time)
         jt = JTraj2ROS(t)
         try:
             controller.exec_traj(jt)
@@ -44,6 +46,12 @@ def execute_plan(plan, controller):
 
 
 if __name__ == '__main__':
-    plan = load_plan('plans/3.plan')
-    con = Controller(simulation=True)
+    plan = load_plan('plans/2.plan')
+    con = Controller(disable_extruder=True)
     execute_plan(plan, con)
+
+    # go to origin and stay (to check calibration)
+    #plan1 = load_plan('plans/1.plan')
+    #plan2 = copy.deepcopy(plan1)
+    #plan2.trajs[0].pop()
+    #execute_plan(plan2, con)