public async static Task MovePoseLinearSupervised(
[InputPin(PropertyMode = PropertyMode.Default, Editor = "Pose")] PoseProperty target,
[InputPin(PropertyMode = PropertyMode.Default)] string endEffectorName = null,
[InputPin(PropertyMode = PropertyMode.Default)] bool collisionChecking = false,
[InputPin(PropertyMode = PropertyMode.Default)] double velocityScaling = 1,
[InputPin(PropertyMode = PropertyMode.Default)] double sampleResolution = 0.05,
[InputPin(PropertyMode = PropertyMode.Default)] double ikJumpThreshold = 1.6,
[InputPin(PropertyMode = PropertyMode.Default)] bool cacheResult = true,
CancellationToken cancel = default(CancellationToken)
)
{
if (target == null)
{
throw new ArgumentNullException(nameof(target), "Required property 'target' of MovePoseLinear module was not specified.");
}
var targetPose = await ResolveProperty(target);
var endEffector = MotionService.QueryAvailableEndEffectors().FirstOrDefault(x => x.Name == endEffectorName);
if (endEffector == null)
{
throw new Exception($"EndEffector '{endEffectorName}' not available.");
}
using (var group = MotionService.CreateMoveGroup(endEffector.MoveGroupName, endEffector.Name))
{
group.SampleResolution = sampleResolution;
group.IkJumpThreshold = ikJumpThreshold;
using (var client = group.GetEndEffector(endEffector.Name).MovePoseLinearSupervisedAsync(targetPose, velocityScaling, collisionChecking, null, cancel))
{
await HandleStepwiseMotions(client, group);
}
}
}
public async static Task MovePoseWaypointsSupervised(
[InputPin(PropertyMode = PropertyMode.Never)] IEnumerable <Pose> waypoints = null,
[InputPin(PropertyMode = PropertyMode.Default)] string endEffectorName = null,
[InputPin(PropertyMode = PropertyMode.Default)] bool collisionChecking = false,
[InputPin(PropertyMode = PropertyMode.Default)] double velocityScaling = 1,
[InputPin(PropertyMode = PropertyMode.Default)] double sampleResolution = 0.05,
[InputPin(PropertyMode = PropertyMode.Default, Editor = "JointValues")] JointValuesProperty seed = null,
[InputPin(PropertyMode = PropertyMode.Default)] bool cacheResult = true,
CancellationToken cancel = default(CancellationToken)
)
{
if (waypoints == null)
{
throw new ArgumentNullException("Required property 'waypoints' for MovePoseLinearWaypointsSupervised module was not specified.", nameof(waypoints));
}
if (waypoints.ToList().Count == 0)
{
throw new ArgumentException("Required property 'waypoints' is empty.", nameof(waypoints));
}
var seedValues = await ResolveProperty(seed);
var endEffector = MotionService.QueryAvailableEndEffectors().FirstOrDefault(x => x.Name == endEffectorName);
if (endEffector == null)
{
throw new Exception($"EndEffector '{endEffectorName}' not available.");
}
CartesianPath path = new CartesianPath(waypoints);
using (var group = MotionService.CreateMoveGroup(endEffector.MoveGroupName, endEffector.Name))
{
if (seed == null)
{
seedValues = group.CurrentJointPositions;
}
group.SampleResolution = sampleResolution;
group.CollisionCheck = collisionChecking;
group.VelocityScaling = velocityScaling;
using (var client = group.GetEndEffector(endEffectorName).MoveCartesianPathSupervisedAsync(path, seedValues, cancel))
{
await HandleStepwiseMotions(client, group);
}
}
}
public async static Task MoveLWaypoints(
[InputPin(PropertyMode = PropertyMode.Never)] IEnumerable <Pose> waypoints = null,
[InputPin(PropertyMode = PropertyMode.Default)] string endEffectorName = null,
[InputPin(PropertyMode = PropertyMode.Default)] bool collisionChecking = false,
[InputPin(PropertyMode = PropertyMode.Default)] double velocityScaling = 1,
[InputPin(PropertyMode = PropertyMode.Default)] double sampleResolution = 0.05,
[InputPin(PropertyMode = PropertyMode.Default)] double ikJumpThreshold = 1.6,
[InputPin(PropertyMode = PropertyMode.Default)] double maxDeviation = 0.0,
[InputPin(PropertyMode = PropertyMode.Default)] bool cacheResult = true,
CancellationToken cancel = default(CancellationToken)
)
{
if (waypoints == null)
{
throw new ArgumentNullException("Required property 'waypoints' for MoveLWayPoints module was not specified.", nameof(waypoints));
}
if (waypoints.ToList().Count == 0)
{
throw new ArgumentException("Required property 'waypoints' is empty.", nameof(waypoints));
}
var endEffector = MotionService.QueryAvailableEndEffectors().FirstOrDefault(x => x.Name == endEffectorName);
if (endEffector == null)
{
throw new Exception($"EndEffector '{endEffectorName}' not available.");
}
CartesianPath path = new CartesianPath(waypoints);
using (var group = MotionService.CreateMoveGroup(endEffector.MoveGroupName, endEffector.Name))
{
group.SampleResolution = sampleResolution;
group.IkJumpThreshold = ikJumpThreshold;
var planParameters = group.BuildTaskSpacePlanParameters(velocityScaling, collisionChecking, maxDeviation, null, endEffector.Name);
var(trajectory, parameters) = group.GetEndEffector(endEffector.Name).PlanMovePoseLinearWaypoints(path, planParameters);
await MotionService.ExecuteJointTrajectory(trajectory, parameters.CollisionCheck, cancel);
}
}
public async static Task MovePoseCollisionFreeSupervised(
[InputPin(PropertyMode = PropertyMode.Default, Editor = "Pose")] PoseProperty target,
[InputPin(PropertyMode = PropertyMode.Default)] string endEffectorName = null,
[InputPin(PropertyMode = PropertyMode.Default)] double velocityScaling = 1,
[InputPin(PropertyMode = PropertyMode.Default)] double sampleResolution = 0.05,
[InputPin(PropertyMode = PropertyMode.Default, Editor = "JointValues")] JointValuesProperty seed = null,
[InputPin(PropertyMode = PropertyMode.Default)] bool cacheResult = true,
CancellationToken cancel = default(CancellationToken)
)
{
if (target == null)
{
throw new ArgumentNullException(nameof(target), "Required property 'target' for MovePoseCollisionFreeSupervised module was not specified.");
}
var endEffector = MotionService.QueryAvailableEndEffectors().FirstOrDefault(x => x.Name == endEffectorName);
if (endEffector == null)
{
throw new Exception($"EndEffector '{endEffectorName}' not available.");
}
var targetPose = await ResolveProperty(target);
var seedValues = await ResolveProperty(seed);
using (var group = MotionService.CreateMoveGroup(endEffector.MoveGroupName, endEffector.Name))
{
if (seed == null)
{
seedValues = group.CurrentJointPositions;
}
group.SampleResolution = sampleResolution;
using (var client = group.GetEndEffector(endEffector.Name).MovePoseCollisionFreeSupervisedAsync(targetPose, seedValues, cancel))
{
await HandleStepwiseMotions(client, group);
}
}
}
