From 5901d2c84dbee696aec2f629f541bca5467d9abf Mon Sep 17 00:00:00 2001
From: Amira Abdel-Rahman <amira-rahman@aucegypt.edu>
Date: Mon, 14 Sep 2020 12:29:25 -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 20bc3c5..08fd816 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
+++ b/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")
--
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