From 7c6592271cdf6e1bc207292cfea9aefe7e2aa752 Mon Sep 17 00:00:00 2001
From: Amira Abdel-Rahman <amira-rahman@aucegypt.edu>
Date: Mon, 14 Sep 2020 11:13:08 -0400
Subject: [PATCH] ur10 debugiinh

---
 .../assembly/python-urx/ur10test.py                         | 6 +++---
 1 file changed, 3 insertions(+), 3 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 880c24e..e2d3774 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)
 
 
-- 
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