update r calibration for raptor print (#69)

5f99628f · Jayant Khatkar · 039ac430 · 5f99628f · 5f99628f
Commit 5f99628f authored Feb 18, 2021 by Jayant Khatkar
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Showing with 2 additions and 2 deletions

src/calibrations/r2_tforms.yaml src/calibrations/r2_tforms.yaml +1 -1

src/greedy.py src/greedy.py +1 -1

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--- a/src/calibrations/r2_tforms.yaml
+++ b/src/calibrations/r2_tforms.yaml
 calibration:
  pos_ET: [0.14835884926437554, -0.05101569978608572, -0.03124000565994875]
-  pos_WR: [-0.010627418386437387, 0.5839227870056072, -0.13793908973951746]
+  pos_WR: [-0.010627418386437387, 0.5839227870056072, -0.13693908973951746]
  quat_ET: [-0.2705980500730985, -0.6532814824381882, 0.27059805007309845, 0.6532814824381883]
  quat_WR: [0.004018429299237062, 0.006996625665453779, 0.01340808587420297, 0.9998775538476972]
 measurements:

--- a/src/greedy.py
+++ b/src/greedy.py
@@ -202,4 +202,4 @@ if __name__ == "__main__":

    # Greedily plan first n contours
    sim_env = tu.SimEnv(env_desc=env_desc2, gui=True, home=home)
-    plan = greedy(sim_env, tracker)
+    plan = greedy(sim_env, tracker, layers=[0])