// Use this for initialization
void Start()
{
initializeJoints();
RoboDK RDK = new RoboDK();
ROBOT = RDK.ItemUserPick("Select a robot", RoboDK.ITEM_TYPE_ROBOT);
RDK.setRunMode(RoboDK.RUNMODE_SIMULATE);
ROBOT.MoveJ(home_joints);
Mat frame = ROBOT.PoseFrame();
//Mat tool = Variables.ROBOT.PoseTool();
Mat pose_ref = ROBOT.Pose();
target_pose = ROBOT.Pose();
xyz_ref = target_pose.Pos();
ROBOT.MoveJ(pose_ref);
ROBOT.setPoseFrame(frame);
//Variables.ROBOT.setPoseTool(tool);
ROBOT.setSpeed(500);
ROBOT.setZoneData(5);
//Setting inial right controller 3D position
VR_Init_Pos[0] = Right_Controller.transform.position.z;
VR_Init_Pos[1] = Right_Controller.transform.position.x;
VR_Init_Pos[2] = Right_Controller.transform.position.y;
//Debug.Log(VR_Init_Pos[0] + " " + VR_Init_Pos[1] + " " + VR_Init_Pos[2]);
}
int Factor_LM = 400; //400
void Start()
{
RoboDK RDK = new RoboDK();
Variables.ROBOT = RDK.ItemUserPick("Select a robot", RoboDK.ITEM_TYPE_ROBOT);
// if (Variables.ROBOT.Connect())
// {
// RDK.setRunMode(RoboDK.RUNMODE_RUN_ROBOT);
// }
// else
// {
// RDK.setRunMode(RoboDK.RUNMODE_SIMULATE);
// }
RDK.setRunMode(RoboDK.RUNMODE_SIMULATE);
//Variables.ROBOT.MoveJ(home_joints);
Mat frame = Variables.ROBOT.PoseFrame();
//Mat tool = Variables.ROBOT.PoseTool();
Mat pose_ref = Variables.ROBOT.Pose();
Variables.target_pose = Variables.ROBOT.Pose();
Variables.xyz_ref = Variables.target_pose.Pos();
Variables.ROBOT.MoveJ(pose_ref);
Variables.ROBOT.setPoseFrame(frame); // set the reference frame
//Variables.ROBOT.setPoseTool(tool); // set the tool frame: important for Online Programming
Variables.ROBOT.setSpeed(500); // Set Speed to 100 mm/s
Variables.ROBOT.setZoneData(5); // set the rounding instruction
//Variables.ROBOT.MoveL(pose_ref);
}
