Commit 1ed7ff8e authored by Jayant Khatkar's avatar Jayant Khatkar

planning the first print minor changes

parent a9faff9a
calibration:
pos_ET: [0.14835884926437554, -0.05101569978608572, -0.03124000565994875]
pos_WR: [-0.010627418386437387, 0.5839227870056072, -0.13693908973951746]
pos_WR: [-0.010627418386437387, 0.5839227870056072, -0.13793908973951746]
quat_ET: [-0.2705980500730985, -0.6532814824381882, 0.27059805007309845, 0.6532814824381883]
quat_WR: [0.004018429299237062, 0.006996625665453779, 0.01340808587420297, 0.9998775538476972]
measurements:
......
......@@ -61,7 +61,7 @@ def plan(points, env, gui=False):
if __name__ == "__main__":
# 1arm real calibration
env_desc1 = tu.read_env('calibrations/r1_tforms.yaml')
env_desc1 = tu.read_env('calibrations/r2_tforms.yaml')
env = tu.SimEnv(env_desc=env_desc1, gui=True, home=home)
# Greedily plan first n contours
......
......@@ -38,7 +38,7 @@ def greedy(contour_tracker, env_desc, n_contours=None, gui=False):
# update collision box for printed material
comp_print_height = tu.get_completed_height(contour_tracker, l_height)
if last_comp_print_height < comp_print_height:
if last_comp_print_height < comp_print_height and False:
last_comp_print_height = comp_print_height
if print_block != None:
env.del_block(print_block)
......@@ -109,8 +109,8 @@ def greedy(contour_tracker, env_desc, n_contours=None, gui=False):
# stay at home for another 10s
stayhome = tu.JTrajectory([home, home],[0,10], arm)
if plan.appendTrajectory([stayhome], arm)!=0:
raise Exception("cannot stay at home - this should never happen, choose a better home position")
return plan
#raise Exception("cannot stay at home - this should never happen, choose a better home position")
else:
# try going to home pos
......
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