ur10 debugiinh

01_Code/physical_computing_interface/assembly/python-urx/ur10test.py

@@ -97,10 +97,10 @@ 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"])-globalSetup["programmingRelativeDistance"]["x"])+node["x"]*latticePitch["x"]
+    roy_trans.pos.y += ((globalSetup["nodeRelativeDistance"]["y"])-globalSetup["programmingRelativeDistance"]["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"]-globalSetup["programmingRelativeDistance"]["z"])-node["z"]*latticePitch["z"]
     roy.set_pose(roy_trans, acc = a, vel = v)