From c9a12f8e22651f0e86a40d860f49f32f5ba1692c Mon Sep 17 00:00:00 2001
From: Amira Abdel-Rahman <amira-rahman@aucegypt.edu>
Date: Mon, 14 Sep 2020 12:31:22 -0400
Subject: [PATCH] debgug
---
.../assembly/python-urx/ur10test.py | 16 ++++++++++++++++
1 file changed, 16 insertions(+)
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 08fd816..d1ffe88 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
+++ b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
@@ -112,6 +112,14 @@ for node in setup["nodes"]:
roy.set_pose(roy_trans, acc = a, vel = v)
time.sleep(sleepTime)
+ v = globalSetup["v"]
+ a = globalSetup["a"]
+
+ # move to reference locations and get current transformation matrices
+ roy.movej(reference_roy_j, acc = a, vel = v)
+ roy_trans = roy.get_pose()
+ time.sleep(sleepTime)
+
print("")
@@ -197,6 +205,14 @@ for edge in setup["edges"]:
#use movej to go back to origin point after moving back up
siegfried_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"])
siegfried.set_pose(siegfried_trans, acc = a, vel = v)
+
+ v = globalSetup["v"]
+ a = globalSetup["a"]
+
+ # move to reference locations and get current transformation matrices
+ siegfried.movej(reference_siegfried_j, acc = a, vel = v)
+ siegfried_trans = siegfried.get_pose()
+ time.sleep(sleepTime)
print ("roy's current pose: ", roy.getj())
--
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