ur10 debugiinh

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())