Less productive

The last few days at work were neither productive nor effective.
I kept staying in lab until late, get some dinner in the city or fast food at home, go to bed, wake up, go to work.
There are experiments planned in the upcoming weeks, and all the stuff needs to be operative by then. It's lots of little ends to make meet, and the rotating coordinate systems, matrices, ZY'Z'' and yawspitchesrolls between robot, camera, control program, and files are making me dizzy.
On top of that, I start noticing that my concentration is slipping - nothing happened yet, the robot didn't crash yet, but lack of free time at home obviously makes me less focused.