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Commit b7c646de authored by Amira Abdel-Rahman's avatar Amira Abdel-Rahman
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ur10 debugiinh

parent d5e5d794
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...@@ -98,62 +98,62 @@ var integratedSetup={ ...@@ -98,62 +98,62 @@ var integratedSetup={
nodes:[ //relative to the pickup nodes:[ //relative to the pickup
], ],
edges:[ //relative to the pickup edges:[ //relative to the pickup
{ //s1 // { //s1
x: 0.0075, // x: 0.0075,
y: -0.2833, // y: -0.2833,
z: 0.038, // z: 0.038,
rx:0, // rx:0,
ry:0, // ry:0,
rz:0, // rz:0,
}, // },
{ //s2 // { //s2
x: 0.0075, // x: 0.0075,
y: -0.3143, // y: -0.3143,
z: 0.038, // z: 0.038,
rx:0, // rx:0,
ry:0, // ry:0,
rz:0, // rz:0,
}, // },
{ //s3 // { //s3
x: 0, // x: 0,
y: 0, // y: 0,
z: 0.03, // z: 0.03,
rx:0, // rx:0,
ry:0, // ry:0,
rz:Math.PI, // rz:Math.PI,
}, // },
{ //s4 // { //s4
x: 0, // x: 0,
y: -0.031, // y: -0.031,
z: 0.03, // z: 0.03,
rx:0, // rx:0,
ry:0, // ry:0,
rz:Math.PI, // rz:Math.PI,
}, // },
{ //s5 // { //s5
x: 0, // x: 0,
y: -0.062, // y: -0.062,
z: 0.03, // z: 0.03,
rx:0, // rx:0,
ry:0, // ry:0,
rz:Math.PI, // rz:Math.PI,
}, // },
{ //s6 // { //s6
x: -0.0235, // x: -0.0235,
y: -0.2833, // y: -0.2833,
z: 0.038, // z: 0.038,
rx:0, // rx:0,
ry:0, // ry:0,
rz:0, // rz:0,
}, // },
{ //s7 // { //s7
x: -0.0235, // x: -0.0235,
y: -0.3143, // y: -0.3143,
z: 0.038, // z: 0.038,
rx:0, // rx:0,
ry:0, // ry:0,
rz:0, // rz:0,
}, // },
], ],
}, },
......
...@@ -68,7 +68,7 @@ ...@@ -68,7 +68,7 @@
"nodes": [ "nodes": [
{ {
"y": 0, "y": 0,
"x": 1, "x": 0,
"z": 0, "z": 0,
"rx": 0, "rx": 0,
"ry": 0, "ry": 0,
...@@ -77,8 +77,64 @@ ...@@ -77,8 +77,64 @@
], ],
"edges": [ "edges": [
{ {
"x": 0.0075,
"y": -0.2833,
"z": 0.038,
"rx": 0,
"ry": 0,
"rz": 0
},
{
"x": 0.0075,
"y": -0.3143,
"z": 0.038,
"rx": 0,
"ry": 0,
"rz": 0
},
{
"x": 0,
"y": 0, "y": 0,
"x": 1.5, "z": 0.03,
"rx": 0,
"ry": 0,
"rz": 3.141592653589793
},
{
"x": 0,
"y": -0.031,
"z": 0.03,
"rx": 0,
"ry": 0,
"rz": 3.141592653589793
},
{
"x": 0,
"y": -0.062,
"z": 0.03,
"rx": 0,
"ry": 0,
"rz": 3.141592653589793
},
{
"x": -0.0235,
"y": -0.2833,
"z": 0.038,
"rx": 0,
"ry": 0,
"rz": 0
},
{
"x": -0.0235,
"y": -0.3143,
"z": 0.038,
"rx": 0,
"ry": 0,
"rz": 0
},
{
"y": 0,
"x": 0.5,
"z": 0, "z": 0,
"rx": 0, "rx": 0,
"ry": 0, "ry": 0,
...@@ -86,7 +142,7 @@ ...@@ -86,7 +142,7 @@
}, },
{ {
"y": -0.5, "y": -0.5,
"x": 1, "x": 0,
"z": 0, "z": 0,
"rx": 0, "rx": 0,
"ry": 0, "ry": 0,
...@@ -94,11 +150,19 @@ ...@@ -94,11 +150,19 @@
}, },
{ {
"y": 0, "y": 0,
"x": 0.5, "x": -0.5,
"z": 0, "z": 0,
"rx": 0, "rx": 0,
"ry": 0, "ry": 0,
"rz": 0 "rz": 0
},
{
"y": 0.5,
"x": 0,
"z": 0,
"rx": 0,
"ry": 0,
"rz": 1.5707963267948966
} }
] ]
} }
......
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