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)

models/urdf/ur5e_cap.urdf

@@ -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>

src/calibrations/r1_tforms.yaml

 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:

src/calibrations/r2_tforms.yaml

 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:

src/greedy.py

@@ -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)