Commit 768b21c3 authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

minor updates to readme

parent 99ad2830
......@@ -4,8 +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.
Given a valid gcode file, it constructs a collision free plan for two arms
to print the object as concurrenlty as possible.
Given a valid gcode file, this repo constructs a collision free plan for two arms
to print the object maximising concurrency.
## Building/Installing
......@@ -31,16 +31,14 @@ pip install .
Create the plan, and enter an interactive shell for viewing it:
```bash
cd src # repo root dir
cd src # from repo root
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
plan.watch(30) #use plan.watch(10,0.5,1) to only watch the last half of the plan in 10 seconds
# plot showing when each arm is printing, when waiting/travelling
plan.visualise()
......
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