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Commit 7751cc12 authored by Amira Abdel-Rahman's avatar Amira Abdel-Rahman
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01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
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...@@ -173,7 +173,7 @@ for edge in setup["edges"]: ...@@ -173,7 +173,7 @@ for edge in setup["edges"]:
siegfried_trans.pos.x += ((globalSetup["edgeRelativeDistance"]["y"]))+edge["y"]*latticePitch["y"] siegfried_trans.pos.x += ((globalSetup["edgeRelativeDistance"]["y"]))+edge["y"]*latticePitch["y"]
siegfried_trans.pos.y += ((globalSetup["edgeRelativeDistance"]["x"]))+edge["x"]*latticePitch["x"] siegfried_trans.pos.y += ((globalSetup["edgeRelativeDistance"]["x"]))+edge["x"]*latticePitch["x"]
siegfried.set_pose(siegfried_trans, acc = a, vel = v) siegfried.set_pose(siegfried_trans, acc = a, vel = v)
siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"]+0.008)-edge["z"]*latticePitch["z"] siegfried_trans.pos.z -= (globalSetup["edgeRelativeDistance"]["z"])-edge["z"]*latticePitch["z"]
siegfried.set_pose(siegfried_trans, acc = a, vel = v) siegfried.set_pose(siegfried_trans, acc = a, vel = v)
siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool
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