void FixFirstTarget(CellTarget firstTarget)
{
var fix = firstTarget.ProgramTargets.Where(x => !x.IsJointTarget);
if (fix.Any())
{
var kinematics = _robotSystem.Kinematics(firstTarget.ProgramTargets.Select(x => x.Target));
foreach (var programTarget in fix)
{
var kinematic = kinematics[programTarget.Group];
if (kinematic.Errors.Count > 0)
{
_program.Errors.Add($"Errors in target {programTarget.Index} of robot {programTarget.Group}:");
_program.Errors.AddRange(kinematic.Errors);
}
programTarget.Target = new JointTarget(kinematic.Joints.RangeSubset(0, 6), programTarget.Target);
_program.Warnings.Add($"First target in robot {programTarget.Group} changed to a joint motion using axis rotations");
}
}
}
