static DefaultPose GetDefaultPose(RobotUR robot)
{
return(new DefaultPose(
planes: new() { robot.Joints.Select(j => j.Plane).Prepend(Plane.WorldXY).ToList() },
meshes: new() { robot.Joints.Select(j => j.Mesh).Prepend(robot.BaseMesh).ToList() }
));
}
// public URRealTime URRealTime { get; set; }
internal RobotSystemUR(string name, RobotUR robot, IO io, Plane basePlane, Mesh?environment)
: base(name, Manufacturers.UR, io, basePlane, environment, GetDefaultPose(robot))
{
Remote = new RemoteUR();
Robot = robot;
DisplayMesh.Append(robot.DisplayMesh);
DisplayMesh.Transform(BasePlane.ToTransform());
}
internal URScriptPostProcessor(RobotSystemUR robotCell, Program program)
{
_cell = robotCell;
_robot = _cell.Robot;
_program = program;
var groupCode = new List <List <string> > {
Program()
};
Code = new List <List <List <string> > > {
groupCode
};
// MultiFile warning
if (program.MultiFileIndices.Count > 1)
{
program.Warnings.Add("Multi-file input not supported on UR robots");
}
}