debgug

01_Code/physical_computing_interface/assembly/python-urx/ur10test.py

@@ -171,7 +171,7 @@ for edge in setup["edges"]:
       siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool
       time.sleep(sleepTime1)
 
-      siegfried_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"])
+      siegfried_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"]-0.008)
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
     else:
       print("rotated") 
@@ -186,7 +186,7 @@ for edge in setup["edges"]:
       v = globalSetup["v1"]
       a = globalSetup["a1"]
 
-      siegfried_trans.pos.y += latticePitch["y"]*(edge["y"]+0.5)
+      siegfried_trans.pos.y -= latticePitch["x"]*(edge["x"]+0.5)
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)
       siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"]-0.008)
       siegfried.set_pose(siegfried_trans, acc = a, vel = v)