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)
-- 
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