Help Changing rope length using variable

Code:
using System;

using System.Collections;

using System.Collections.Generic;

using System.IO;

using System.Net;

using System.Text;

using System.Globalization;

using System.Net.Sockets;

using UnityEngine;

using Obi;





public class Control_main : MonoBehaviour

{

// ------------------------------------------------------------------------------------------------------------------------------------------------//

    // Declaring variables and objects



    // Rope and cursor objects to manipulate cable lengths

    public ObiRope rope_1;

    public ObiRope rope_2;

    public ObiRope rope_3;

    public ObiRope rope_4;



    public ObiRopeCursor cursor_1;

    public ObiRopeCursor cursor_2;

    public ObiRopeCursor cursor_3;

    public ObiRopeCursor cursor_4;



    public float speed;





    // Current cable lengths

    public float c1_len;

    public float c2_len;

    public float c3_len;

    public float c4_len;



    // Robot object and position

    public GameObject robot_obj;

    public Vector3 robot_pos; 



    // Control input

    public List<float> control_ip = new List<float>();



    // Control input variables (data received from python)

    public float c1_control_ip;    

    public float c2_control_ip;

    public float c3_control_ip;

    public float c4_control_ip;



    // Control script objects

    public GameObject c1;

    public GameObject c2;

    public GameObject c3;

    public GameObject c4;

    public GameObject listener;

    public GameObject sender;



    // Other scripts

    public Control_C1 c1Script;

    public Control_C2 c2Script;

    public Control_C3 c3Script;

    public Control_C4 c4Script;

    public TCPListenPipe listenerScript;

    public TCPSendPipe senderScript;



    // Misc

    public float delay = 10;

    float timer;

    bool running = true;



    // Simulation Status

    public string sim_stat = "sim_stat";

// ------------------------------------------------------------------------------------------------------------------------------------------------//



    // Start method

    public void Start()

    {

        // Waiting for simulation to be ready

        StartCoroutine(sim_steady());



        // Getting all required scene objects

        GetSceneObjects();



    }



// ------------------------------------------------------------------------------------------------------------------------------------------------//



    // Coroutine to wait for the simulation to get to steady state

    IEnumerator sim_steady()

    {

        sim_stat = "Simulation started";                    // changing simulation status to "started"

        Debug.Log("Simulation started");

        sim_stat = "Waiting for simulation to be steady";   // changing simulation status to "waiting"

        Debug.Log("Waiting for simulation to be steady");

        yield return new WaitForSeconds(10);

        sim_stat = "Simulation ready to use";               // changing simulation status to "ready to use"

        Debug.Log("Simulation ready to use");

    }



// ------------------------------------------------------------------------------------------------------------------------------------------------//

   

    // Method to get scene objects and parameters

    public void GetSceneObjects()

    {

        // Access cable objects

        c1 = GameObject.Find("Cable1");

        c2 = GameObject.Find("Cable2");

        c3 = GameObject.Find("Cable3");

        c4 = GameObject.Find("Cable4");

        listener = GameObject.Find("TrainingEnv");

        sender = GameObject.Find("TrainingEnv");



        // Access other scripts

        c1Script = FindObjectOfType<Control_C1>();

        c2Script = FindObjectOfType<Control_C2>();

        c3Script = FindObjectOfType<Control_C3>();

        c4Script = FindObjectOfType<Control_C4>();

        listenerScript = FindObjectOfType<TCPListenPipe>();

        senderScript = FindObjectOfType<TCPSendPipe>();





        // Getting rope and cursor objects

        rope_1 = c1Script.rope1;

        rope_2 = c2Script.rope2;

        rope_3 = c3Script.rope3;

        rope_4 = c4Script.rope4;



        cursor_1 = c1Script.cursor1;

        cursor_2 = c2Script.cursor2;

        cursor_3 = c3Script.cursor3;

        cursor_4 = c4Script.cursor4;



        speed = c1Script.speed;

    }



// ------------------------------------------------------------------------------------------------------------------------------------------------//



    // Method to receive robot position

    public void getRobPos()

    {

        // Getting robot object and position from TCPSendPipe

        robot_obj = senderScript.robot;

        robot_pos = senderScript.robPos;

    }



// ------------------------------------------------------------------------------------------------------------------------------------------------//



    // Method to get current cable lengths

    public void getCableLen()

    {

        // Access cable lengths (from Cable control scripts - cable observations)

        c1_len = c1Script.rope_c1;

        c2_len = c2Script.rope_c2;

        c3_len = c3Script.rope_c3;

        c4_len = c4Script.rope_c4;

    }



// ------------------------------------------------------------------------------------------------------------------------------------------------//



    // Method to receive actions

    public void Receive_actions()

    {

        // Access control inputs (from TCPListenPipe - data received from python)

        c1_control_ip = listenerScript.c1_action;

        c2_control_ip = listenerScript.c2_action;

        c3_control_ip = listenerScript.c3_action;

        c4_control_ip = listenerScript.c4_action;

    }

    

// ------------------------------------------------------------------------------------------------------------------------------------------------//

    

    // Method to perform control action

    public void set_control()

    {

        while (c1_len != c1_control_ip)

        {

            Debug.Log("Changing Cable Lengths");

            cursor_1.ChangeLength(c1_control_ip);

            if(c1_len == c1_control_ip) 

            {

                Debug.Log("Action Completed");

                break;

            }

        }

    }



// ------------------------------------------------------------------------------------------------------------------------------------------------//

    // Method to print all data for debugging

    public void Debugging_data()

    {   

        Debug.Log("Current Cable Lengths: " + "\n");

        Debug.Log("cable 1:" + c1_len + "\n" + "cable 2 :" + c2_len + "\n" + "cable 3 :" + c3_len + "\n" + "cable 4 :" + c4_len + "\n");



        Debug.Log("Cable Control Inputs: " + "\n");

        Debug.Log("c1_control_ip :" + c1_control_ip + "\n" + "c2_control_ip :" + c2_control_ip + "\n" + "c3_control_ip :" + c3_control_ip + "\n" + "c4_control_ip :" + c4_control_ip + "\n");

        

        Debug.Log("Robot Position: " + "\n");

        Debug.Log("position: " + robot_pos);

    }



// ------------------------------------------------------------------------------------------------------------------------------------------------//



    // Update method (performs continuous control operation)

    void Update()

    {

        if (running)

        {

            if (sim_stat == "Simulation ready to use")

            {

                // Getting Control Actions

                Receive_actions();



                // Getting Current Cable Lengths

                getCableLen();



                // Getting Current Robot Position

                getRobPos();







                // Setting Control Actions

                //set_control();



                // Printing All Data

                Debugging_data();

            }

        }

    }

// ------------------------------------------------------------------------------------------------------------------------------------------------//

}