debgug

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

@@ -165,13 +165,13 @@ for edge in setup["edges"]:
       siegfried_trans.pos.x += ((globalSetup["edgeRelativeDistance"]["y"]))+edge["y"]*latticePitch["y"]
       siegfried_trans.pos.y += ((globalSetup["edgeRelativeDistance"]["x"]))+edge["x"]*latticePitch["x"]
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
-      siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"])-edge["z"]*latticePitch["z"]
+      siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"]-0.008)-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["nodeRelativeDistance"]["z"]-0.008)
+      siegfried_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"])
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
     else:
       print("rotated")