Skip to content
Snippets Groups Projects
Commit c9a12f8e authored by Amira Abdel-Rahman's avatar Amira Abdel-Rahman
Browse files

debgug

parent 5901d2c8
Branches
No related tags found
No related merge requests found
Pipeline #6382 passed
...@@ -112,6 +112,14 @@ for node in setup["nodes"]: ...@@ -112,6 +112,14 @@ for node in setup["nodes"]:
roy.set_pose(roy_trans, acc = a, vel = v) roy.set_pose(roy_trans, acc = a, vel = v)
time.sleep(sleepTime) time.sleep(sleepTime)
v = globalSetup["v"]
a = globalSetup["a"]
# move to reference locations and get current transformation matrices
roy.movej(reference_roy_j, acc = a, vel = v)
roy_trans = roy.get_pose()
time.sleep(sleepTime)
print("") print("")
...@@ -198,6 +206,14 @@ for edge in setup["edges"]: ...@@ -198,6 +206,14 @@ for edge in setup["edges"]:
siegfried_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"]) siegfried_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"])
siegfried.set_pose(siegfried_trans, acc = a, vel = v) siegfried.set_pose(siegfried_trans, acc = a, vel = v)
v = globalSetup["v"]
a = globalSetup["a"]
# move to reference locations and get current transformation matrices
siegfried.movej(reference_siegfried_j, acc = a, vel = v)
siegfried_trans = siegfried.get_pose()
time.sleep(sleepTime)
print ("roy's current pose: ", roy.getj()) print ("roy's current pose: ", roy.getj())
print ("siegfried's current pose: ", siegfried.getj()) print ("siegfried's current pose: ", siegfried.getj())
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment