fix bug where calibrate-adjusting already calibrated joints

src/main2.py

@@ -39,8 +39,8 @@ def execute_plan(plan,
             JTraj2ROS(plan.trajs[arm][i]) # also check for double time stamps and positions tolerances when removing
 
     # plan to the start position of the plan
-    r1_con.group.go(calib_corr_single(plan.trajs[0][0].positions[0],"/r1/robot_description"))
-    r2_con.group.go(calib_corr_single(plan.trajs[1][0].positions[0],"/r2/robot_description"))
+    r1_con.group.go(plan.trajs[0][0].positions[0])
+    r2_con.group.go(plan.trajs[1][0].positions[0])
     controllers = [r1_con, r2_con]
 
     # execute trajectories in plan
@@ -115,4 +115,4 @@ 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=0.8)
+    execute_plan(plan2arms, r1_con, r2_con, move_speed=0.2)