Commit 2d83342f authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

update readme with running info and project description

parent ba64b97e
......@@ -4,10 +4,8 @@ Software for planning the motion of the twin printers robot.
The twins are 2 UR5e arms which 3D print in a shared workspace.
This repo contains the following components:
- A pyBullet simulation of the twins for fast collision checking
- A python Planner object for managing simulataneous arm trajectories
- IKfast IK solver generation for the twins
Given a valid gcode file, it constructs a collision free plan for two arms
to print the object as concurrenlty as possible.
## Building/Installing
......@@ -28,3 +26,28 @@ cd src/utils/ikfastpy
python setup.py build_ext --inplace
pip install .
```
#### Running
Create the plan, and enter an interactive shell for viewing it:
```bash
cd src # repo root dir
ipython -i greedy.py # quicker plan
# OR
ipython -i decmcts.py # working on it
```
To inspect the plan in the interactive shell:
```python
# watch the plan created, sped up to complete in 30s
plan.watch(30) #use plan.watch(10,0.5,1) to only watch the last half of the plan
# plot showing when each arm is printing, when waiting/travelling
plan.visualise()
#plot the contours planned, coloured by the arm they are assigned to
tu.plot_plan_contours(plan, contours)
# save the plan
plan.save("myprint.plan")
```
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