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Created with Raphaël 2.2.027Sep430Aug1479Feb20Jan21Dec1615128724Sep2013129865218Feb1715121110929Jan282722212018151413121164328Dec21161514111097330Nov2720Mar191716131211109328Feb24working well for CuteOctoBig with 1 arm printing at bed originnew_setup_techlabnew_setup_techlabenable extruders in launch files. start trying to get extruding working - works for basic planners but doesn't work properly for reeb greedy and reeb tree because contours aren't tracked during plan generation which leads to incorrect times/speedsupdate after testingupdatefix robot arm assignmentsmodified for new setup at techlab with ur5es and filament extruder. Currently unable to execute a plan on arms, they move from home config to some other random config and then back againstate at the end of hardware runmastermastermake calibration correction limit a function inputsome bad code to be able to continue a print from the middlefix bug where calibrate-adjusting already calibrated jointsappropriate tolerances for doubled time stamps and skip up to 3 waypoints when trac-ik failsrecord data to find problematic joint angles for trac-ikbugfix/trackik-…bugfix/trackik-data-capturecatch double time stamps and track-ik failures betterrun and save trajectory calibrations before beginning plan for long trajectoriescalibration correct homing before start of planoutput recorded joint angles to json to use as useful intermediate pointsremove old plansupdated calibrations for closer setupscript to collect data to find bed level offsetremove prior calibs code since freedrive is easierupdateed calibrations for new extruder and debowed print bedadd extrusion control using enable pins through UR IOmultiple trac-ik attempts when it finds incorrect solcalibration correction for 2 arm plans in main2use trac-ik to preprocess joint angles using calibrated urdfhacky process to create a calibrated urdf file using the UR calibration yamlexecuting plans one arm at a time using main1readme updated with manual extruder enable connection through ros instructionsupdated calibratino files for the UR10supdate package referenceupdate files to control both arms simultaneouslyupdate launch files to connect to URs individuallyupdated calibrationsadd gcode and plans for first demo print (https://code.research.uts.edu.au/bigprint/twins-planner/-/issues/69)first print of 2x octopuses complete (implement #19)feature/fast-ca…feature/fast-calibrationoctox2 plan added - to do with extrusion soon (#19)update r1 calibration (#19)test r2 calibration, add first parse of real plan for first print (#19)r2 updated calibration (#19)use different vert_or for r2 (#19)