create plan for first print, change home position...

create plan for first print, change home position (twins-controller#19)

src/decmcts.py

@@ -511,7 +511,7 @@ def decmcts(contour_tracker,
 if __name__ == "__main__":
 
     # Read gcode file
-    model = "flexirex_big"
+    model = "CuteOcto_x2"
     tracker = tu.get_tracker(model)
 
     # 3arms simulation
@@ -523,14 +523,13 @@ if __name__ == "__main__":
     # 2arms real calibration
     env_desc2 = tu.read_env('calibrations/r1_tforms.yaml',
                             'calibrations/r2_tforms.yaml')
-    env = tu.SimEnv(env_desc=env_desc3, gui=False, home=home)
+    env = tu.SimEnv(env_desc=env_desc2, gui=True, home=home)
 
     # decmcts plan first n contours
-    c_traj_file = "gcode/" + model + ".c_traj"
     cs, plan = decmcts(tracker,
                    env,
                    n_layers=2,
-                   mcts_nodes=1000
+                   mcts_nodes=200
                    )
     visualiseCombinedSchedule(cs)
     plan.visualise()

src/gen_cal_test.py

@@ -13,7 +13,7 @@ import pickle
 import copy
 
 
-home = [-pi/2, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
+home = [0, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
 
 
 def plan(points, env, gui=False):

src/greedy.py

@@ -7,7 +7,7 @@ import warnings
 import pickle
 
 
-home = [-pi/2, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
+home = [0, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
 
 
 def greedy(contour_tracker, env_desc, n_contours=None, gui=False):
@@ -151,7 +151,7 @@ def greedy(contour_tracker, env_desc, n_contours=None, gui=False):
 if __name__ == "__main__":
 
     # Read gcode file
-    model = "flexirex_big"
+    model = "CuteOcto_x2"
     tracker = tu.get_tracker(model)
 
     # 3arms simulation
@@ -165,4 +165,4 @@ if __name__ == "__main__":
                             'calibrations/r2_tforms.yaml')
 
     # Greedily plan first n contours
-    plan = greedy(tracker, env_desc3, n_contours=10, gui=True)
+    plan = greedy(tracker, env_desc2, n_contours=10, gui=True)