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 880c24e7a4bbdf54f437e45bddf065dce320ff24..e2d3774861ddb55cd2c77137051b30a402b8f623 100644 --- a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py +++ b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py @@ -97,10 +97,10 @@ for node in setup["nodes"]: roy.set_pose(roy_trans, acc = a, vel = v) # move roy (nodes) to node from reference location - roy_trans.pos.x += ((globalSetup["nodeRelativeDistance"]["x"]))+node["x"]*latticePitch["x"] - roy_trans.pos.y += ((globalSetup["nodeRelativeDistance"]["y"]))+node["y"]*latticePitch["y"] + 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"])-node["z"]*latticePitch["z"] + roy_trans.pos.z -= (globalSetup["nodeRelativeDistance"]["z"]-globalSetup["programmingRelativeDistance"]["z"])-node["z"]*latticePitch["z"] roy.set_pose(roy_trans, acc = a, vel = v)