From d5e5d794a57d9f80a578578bcccb85a39091bdfb Mon Sep 17 00:00:00 2001
From: Amira Abdel-Rahman <amira-rahman@aucegypt.edu>
Date: Mon, 14 Sep 2020 11:20:46 -0400
Subject: [PATCH] ur10 debugiinh
---
.../assembly/python-urx/ur10test.py | 4 +++-
1 file changed, 3 insertions(+), 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 4879843..9a44d86 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
+++ b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
@@ -108,7 +108,8 @@ for node in setup["nodes"]:
time.sleep(sleepTime1)
- roy_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"])-node["z"]*latticePitch["z"]
+ roy_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"])
+ roy.set_pose(roy_trans, acc = a, vel = v)
time.sleep(sleepTime)
@@ -185,6 +186,7 @@ for edge in setup["edges"]:
#use movej to go back to origin point after moving back up
siegfried_trans.pos.z += (globalSetup["edgeRelativeDistance"]["z"])
+ siegfried.set_pose(siegfried_trans, acc = a, vel = v)
print ("roy's current pose: ", roy.getj())
--
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