diff --git a/01_Code/physical_computing_interface/assembly/app.js b/01_Code/physical_computing_interface/assembly/app.js
index 7b9a4c7061ccb66518265a2db01e5069b72b4e3e..e75dfb60ac7b124a1bb82acba351dd8eb05e0171 100644
--- a/01_Code/physical_computing_interface/assembly/app.js
+++ b/01_Code/physical_computing_interface/assembly/app.js
@@ -190,9 +190,9 @@ document.addEventListener('addNode', function (e) {
function assembleNode(e,integratedSetup){
var ur10Setup=integratedSetup.ur10Setup;
- ur10Setup.nodes=[];
- ur10Setup.edges=[];
-
+ // ur10Setup.nodes=[];
+ // ur10Setup.edges=[];
+
var x=e.detail.x;
var y=e.detail.y;
var z=e.detail.z;
diff --git a/01_Code/physical_computing_interface/assembly/python-urx/setup.json b/01_Code/physical_computing_interface/assembly/python-urx/setup.json
index 3d426bb52dfc6abb2d264dccb9021e395ba5ff0e..c3e25093af9d2ec4f8ea3f572bd27e70e35a9835 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/setup.json
+++ b/01_Code/physical_computing_interface/assembly/python-urx/setup.json
@@ -1,7 +1,7 @@
{
"setup": {
"parameters": {
- "run": true,
+ "run": false,
"pythonFileName": "ur10test",
"ipNode": "192.168.1.52",
"ipEdge": "192.168.1.53",
diff --git a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
index 0dc7288a262f80ca484e8353d774b052d9776d91..880c24e7a4bbdf54f437e45bddf065dce320ff24 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
+++ b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
@@ -70,7 +70,7 @@ for node in setup["nodes"]:
a = globalSetup["a1"]
# move to pickup locations from reference
- roy_trans.pos.z += globalSetup["nodeRelativeDistance"]["z"]
+ roy_trans.pos.z -= globalSetup["nodeRelativeDistance"]["z"]
roy.set_pose(roy_trans, acc = a, vel = v)
time.sleep(sleepTime)
@@ -78,8 +78,13 @@ for node in setup["nodes"]:
# close and open grippers
roy.send_program('set_tool_digital_out(0, True)') #close node tool
time.sleep(sleepTime1)
- roy.send_program('set_tool_digital_out(0, False)') #open node tool
- time.sleep(sleepTime1)
+ # roy.send_program('set_tool_digital_out(0, False)') #open node tool
+ # time.sleep(sleepTime1)
+
+ # move to pickup locations from reference
+ roy_trans.pos.z += globalSetup["nodeRelativeDistance"]["z"]
+ roy.set_pose(roy_trans, acc = a, vel = v)
+ time.sleep(sleepTime)
# move roy (nodes) to programming location from reference, drops to program, then lifts to reference height
roy_trans.pos.x += globalSetup["programmingRelativeDistance"]["x"]
@@ -92,12 +97,18 @@ for node in setup["nodes"]:
roy.set_pose(roy_trans, acc = a, vel = v)
# move roy (nodes) to node from reference location
- roy_trans.pos.x += ((globalSetup["nodeRelativeDistance"]["x"])+node["x"]*latticePitch["x"])
- roy_trans.pos.y += ((globalSetup["nodeRelativeDistance"]["y"])+node["y"]*latticePitch["y"])
+ roy_trans.pos.x += ((globalSetup["nodeRelativeDistance"]["x"]))+node["x"]*latticePitch["x"]
+ roy_trans.pos.y += ((globalSetup["nodeRelativeDistance"]["y"]))+node["y"]*latticePitch["y"]
roy.set_pose(roy_trans, acc = a, vel = v)
- roy_trans.pos.z -= (globalSetup["nodeRelativeDistance"]["z"]-node["z"]*latticePitch["z"])
+ roy_trans.pos.z -= (globalSetup["nodeRelativeDistance"]["z"])-node["z"]*latticePitch["z"]
roy.set_pose(roy_trans, acc = a, vel = v)
- roy_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"]-node["z"]*latticePitch["z"])
+
+
+ roy.send_program('set_tool_digital_out(0, False)') #open node tool
+ time.sleep(sleepTime1)
+
+
+ roy_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"])-node["z"]*latticePitch["z"]
time.sleep(sleepTime)
@@ -122,15 +133,20 @@ for edge in setup["edges"]:
a = globalSetup["a1"]
# move to pickup locations from reference
- siegfried_trans.pos.z += globalSetup["edgeRelativeDistance"]["z"]
+ siegfried_trans.pos.z -= globalSetup["edgeRelativeDistance"]["z"]
siegfried.set_pose(siegfried_trans, acc = a, vel = v)
time.sleep(sleepTime)
# close and open grippers
siegfried.send_program('set_tool_digital_out(0, True)') #close strut tool
time.sleep(sleepTime1)
- siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool
- time.sleep(sleepTime1)
+ # siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool
+ # time.sleep(sleepTime1)
+
+ # move to pickup locations from reference
+ siegfried_trans.pos.z += globalSetup["edgeRelativeDistance"]["z"]
+ siegfried.set_pose(siegfried_trans, acc = a, vel = v)
+ time.sleep(sleepTime)
# placement location reference (top view)
@@ -144,12 +160,16 @@ for edge in setup["edges"]:
#move siegfried (struts) to S1, then to build level 0.5, from reference location
if node["rx"]<0.1 :
- siegfried_trans.pos.y += ((globalSetup["edgeRelativeDistance"]["y"])+node["y"]*latticePitch["y"])
- siegfried_trans.pos.x += ((globalSetup["edgeRelativeDistance"]["x"])+node["x"]*latticePitch["x"])
+ siegfried_trans.pos.y += ((globalSetup["edgeRelativeDistance"]["y"]))+node["y"]*latticePitch["y"]
+ siegfried_trans.pos.x += ((globalSetup["edgeRelativeDistance"]["x"]))+node["x"]*latticePitch["x"]
siegfried.set_pose(siegfried_trans, acc = a, vel = v)
- siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"]-node["z"]*latticePitch["z"])
+ siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"])-node["z"]*latticePitch["z"]
siegfried.set_pose(siegfried_trans, acc = a, vel = v)
- siegfried_trans.pos.z += (globalSetup["edgeRelativeDistance"]["z"]-node["z"]*latticePitch["z"])
+
+ siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool
+ time.sleep(sleepTime1)
+
+ siegfried_trans.pos.z += (globalSetup["edgeRelativeDistance"]["z"])-node["z"]*latticePitch["z"]
else:
#move siegfried (struts) to S4, then to build level 0.5, from reference location
#uses movej for the rotation and to get close to the build plate, to avoid sketchiness
@@ -159,6 +179,10 @@ for edge in setup["edges"]:
siegfried.set_pose(siegfried_trans, acc = a, vel = v)
siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"]-0.008)
siegfried.set_pose(siegfried_trans, acc = a, vel = v)
+
+ siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool
+ time.sleep(sleepTime1)
+
#use movej to go back to origin point after moving back up
siegfried_trans.pos.z += (globalSetup["edgeRelativeDistance"]["z"])
diff --git a/01_Code/physical_computing_interface/setup/serve.js b/01_Code/physical_computing_interface/setup/serve.js
index b5606038b0bba15f9f2500b9b454cd55bd1c6218..23ec1dda2562953b77240de531f8c2691e947aa8 100644
--- a/01_Code/physical_computing_interface/setup/serve.js
+++ b/01_Code/physical_computing_interface/setup/serve.js
@@ -51,7 +51,7 @@ function runPython_urx(setup){
if(setup.ur10Setup.parameters.run){
console.log("Call python script:")
var commands=[];
- commands.push("python " + root+setup.ur10Setup.parameters.pythonFileName +".py");
+ commands.push("python3 " + root+setup.ur10Setup.parameters.pythonFileName +".py");
runListCommand(commands,0);
}else{