Commit a63ee9ea authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

avoid quat error by using a default quat val, will update on controller end...

avoid quat error by using a default quat val, will update on controller end for correct value (implement #44)
parent 3e782998
......@@ -296,18 +296,18 @@
<link name="print_tip">
<visual>
<origin rpy="0 0 0" xyz="0.075 0 0"/>
<origin rpy="0 0 0" xyz="0.074 0 0"/>
<geometry>
<box size="0.15 0.1 0.1"/>
<box size="0.148 0.1 0.1"/>
</geometry>
<material name="pt_material">
<color rgba="0.3 0.8 0.3 0.95"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.075 0 0"/>
<origin rpy="0 0 0" xyz="0.074 0 0"/>
<geometry>
<box size="0.15 0.1 0.1"/>
<box size="0.148 0.1 0.1"/>
</geometry>
</collision>
</link>
......
calibration:
pos_ET: [0.14885085466107165, -0.052006706746552875, -0.03180325761311515]
pos_WR: [0.030510852445627096, -0.5832304614329086, -0.13143040024480324]
quat_ET: [-0.2705980500730985, -0.6532814824381882, -0.27059805007309845, 0.6532814824381883]
quat_ET: [0,0,0,1]
quat_WR: [-0.0029816960949463804, 0.005867892094167384, -0.9999698348632657, 0.004123917349033938]
measurements:
errors:
......
calibration:
pos_ET: [0.1488171468456846, -0.04686485217586731, -0.035095146814831085]
pos_WR: [-0.02931384958017907, 0.58466302351586, -0.1316934641105142]
quat_ET: [-0.2705980500730985, -0.6532814824381882, -0.27059805007309845, 0.6532814824381883]
quat_ET: [0,0,0,1]
quat_WR: [0.008022261429018377, 0.008125316357774606, 0.010454855865521752, 0.9998801520904802]
measurements:
errors:
......
......@@ -138,4 +138,4 @@ if __name__ == "__main__":
print("Dependency graph completed and saved to " + pkl)
# Greedily plan first n contours
plan = greedy(tracker, 0, gui=True)
plan = greedy(tracker, 10, gui=True)
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