planning the first print minor changes

src/calibrations/r2_tforms.yaml

 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:

src/gen_cal_test.py

@@ -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

src/greedy.py

@@ -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