public async Task Execute(Transform frameOfReference)
{
RobotInterface.MoveToPoseCommand command = new RobotInterface.MoveToPoseCommand(localPosition, localRotation);
command.velocity = 1.5f;
RobotInterface.instance.QueueMove(command);
await ExecuteActions(frameOfReference);
}
public void UpdateRobot()
{
if (target.transform.localPosition != lastCommandedPosition || target.transform.localRotation != lastCommandedRotation)
{
RobotInterface.MoveToPoseCommand command = new RobotInterface.MoveToPoseCommand(target.transform.localPosition, target.transform.localRotation);
command.velocity = 1.5f;
lastCommandedPosition = target.transform.localPosition;
lastCommandedRotation = target.transform.localRotation;
RobotInterface.instance.CancelQueuedMoves();
RobotInterface.instance.QueueMove(command);
}
}
