From ee854c7bf89014302ea0e4f8ed66e729d9e7b209 Mon Sep 17 00:00:00 2001 From: Amira Abdel-Rahman <amira-rahman@aucegypt.edu> Date: Mon, 14 Sep 2020 12:28:38 -0400 Subject: [PATCH] debgug --- .../assembly/python-urx/ur10test.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 c2990a1..20bc3c5 100644 --- a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py +++ b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py @@ -171,7 +171,7 @@ for edge in setup["edges"]: siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool time.sleep(sleepTime1) - siegfried_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"]) + siegfried_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"]-0.008) siegfried.set_pose(siegfried_trans, acc = a, vel = v) else: print("rotated") @@ -186,7 +186,7 @@ for edge in setup["edges"]: v = globalSetup["v1"] a = globalSetup["a1"] - siegfried_trans.pos.y += latticePitch["y"]*(edge["y"]+0.5) + siegfried_trans.pos.y -= latticePitch["x"]*(edge["x"]+0.5) 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) -- GitLab