ur10 debugiinh

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

@@ -134,7 +134,7 @@ 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["nodeRelativeDistance"]["z"]
     siegfried.set_pose(siegfried_trans, acc = a, vel = v)
     time.sleep(sleepTime)
 
@@ -145,7 +145,7 @@ for edge in setup["edges"]:
     # time.sleep(sleepTime1)
 
     # move to pickup locations from reference
-    siegfried_trans.pos.z += globalSetup["edgeRelativeDistance"]["z"]
+    siegfried_trans.pos.z += globalSetup["nodeRelativeDistance"]["z"]
     siegfried.set_pose(siegfried_trans, acc = a, vel = v)
     time.sleep(sleepTime)
 
@@ -161,22 +161,22 @@ 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"]))+edge["y"]*latticePitch["y"]
+      siegfried_trans.pos.x += ((globalSetup["edgeRelativeDistance"]["x"]))+edge["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"])-edge["z"]*latticePitch["z"]
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
 
       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"]
+      siegfried_trans.pos.z += (globalSetup["edgeRelativeDistance"]["z"])-edge["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
       siegfried.movej(strut90_siegfried_j, acc = a, vel = v)
       siegfried_trans = siegfried.get_pose()
-      siegfried_trans.pos.y -= latticePitch["y"]*(node["y"]-0.5)
+      siegfried_trans.pos.y -= latticePitch["y"]*(edge["y"]-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)
@@ -185,7 +185,7 @@ for edge in setup["edges"]:
       time.sleep(sleepTime1)
 
       #use movej to go back to origin point after moving back up
-      siegfried_trans.pos.z += (globalSetup["edgeRelativeDistance"]["z"])
+      siegfried_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"])
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)