Misc updates

README.md

@@ -88,6 +88,9 @@ Delimiter characters seem to vary somewhat.
 The following examples work:
 TODO ADD EXAMPLES OF SVG PATHS
 
+Make sure that all shapes in the SVG are within the bounds defined by height and width (or viewbox).
+Shapes outside of bounds will cause the robot to frequently visit the top left corner and edges of the paper and not draw the desired image.
+
 The following SVG primitives are supported:
 | Primitive                           | Support  |
 |-------------------------------------|----------|

scripts/plot_lite6_csv/plot_lite6_csv.py

@@ -1,4 +1,8 @@
 # 3D Heatmap in Python using matplotlib
+# Script expects a csv consisting of lines in the format:
+#   success, 10.0 14.2 14.4, 1.0 2.0 3.0, ...
+#   failure, 10.0 14.2 14.4, 1.0 2.0 3.0, ...
+# Usage: python plot_lite6_csv.py OUTPUT.csv
 
 # to make plot interactive 
 #%matplotlib

src/drawing_controller/drawing_controller/svg_path_parser.py

@@ -115,7 +115,7 @@ class SVGPathParser():
             maxval = np.amax(np.absolute(control_points))
             #print('maxxv', maxval)
             control_points = control_points / maxval #normalize values
-            n = 10
+            n = 50
             curve = cf.cubic_curve(control_points)
             lin = np.linspace(curve.start(0), curve.end(0), n)
             coordinates = curve(lin)

src/lite6_controller/src/lite6_controller.cpp

@@ -83,7 +83,7 @@ public:
   float xlim_upper = 0.305;
   float ylim_lower = -0.1475;
   float ylim_upper = 0.1475;
-  float zlim_lower = 0.208;
+  float zlim_lower = 0.210;
   float zlim_upper = 0.218;
 
   //bool moved = false;
@@ -113,7 +113,10 @@ public:
     //command_list_manager = new pilz_industrial_motion_planner::CommandListManager(std::shared_ptr<rclcpp::Node>(std::move(this)), this->move_group.getRobotModel());
     // Use upper joint velocity and acceleration limits
     this->move_group.setMaxAccelerationScalingFactor(1.0);
-    this->move_group.setMaxVelocityScalingFactor(1.0);
+
+    //setting this lower seems to improve overall time and prevents robot from moving too fast
+    //this->move_group.setMaxVelocityScalingFactor(1.0);
+    this->move_group.setMaxVelocityScalingFactor(0.8);
 
     // Subscribe to target pose
     //target_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>("/target_pose", rclcpp::QoS(1), std::bind(&MoveItFollowTarget::target_pose_callback, this, std::placeholders::_1));