From 260ff1a8e54c2d94e5c7d05e5a712142145ffc62 Mon Sep 17 00:00:00 2001
From: Amira Abdel-Rahman <amira-rahman@aucegypt.edu>
Date: Mon, 14 Sep 2020 11:14:12 -0400
Subject: [PATCH] ur10 debugiinh
---
.../assembly/python-urx/ur10test.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
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 e2d3774..4879843 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
+++ b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
@@ -100,7 +100,7 @@ for node in setup["nodes"]:
roy_trans.pos.x += ((globalSetup["nodeRelativeDistance"]["x"])-globalSetup["programmingRelativeDistance"]["x"])+node["x"]*latticePitch["x"]
roy_trans.pos.y += ((globalSetup["nodeRelativeDistance"]["y"])-globalSetup["programmingRelativeDistance"]["y"])+node["y"]*latticePitch["y"]
roy.set_pose(roy_trans, acc = a, vel = v)
- roy_trans.pos.z -= (globalSetup["nodeRelativeDistance"]["z"]-globalSetup["programmingRelativeDistance"]["z"])-node["z"]*latticePitch["z"]
+ roy_trans.pos.z -= (globalSetup["nodeRelativeDistance"]["z"])-node["z"]*latticePitch["z"]
roy.set_pose(roy_trans, acc = a, vel = v)
--
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