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Amira Abdel-Rahman
Physical Computing Design Tools
Commits
c9a12f8e
Commit
c9a12f8e
authored
4 years ago
by
Amira Abdel-Rahman
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#6382
passed
4 years ago
Stage: deploy
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01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
+16
-0
16 additions, 0 deletions
...sical_computing_interface/assembly/python-urx/ur10test.py
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16 additions
and
0 deletions
01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
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−
0
View file @
c9a12f8e
...
@@ -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
())
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