// Move robot's joints - Invalid clearance
public static void CTUE00400()
{
BinPickingTask task = CTUC00100();
// J7(linear rail), J1, J2, J3, J5, J6, J8(servo hand)
List <double> jointValues = new List <double>()
{
-10.0, 0.0, 50.0, -100.0, 0.0, 0.0, 0.0
};
List <int> jointIndices = new List <int>()
{
0, 1, 2, 3, 4, 5, 6
};
try
{
task.MoveJoints(jointValues, jointIndices, -5.0, 0.2, "");
}
catch (ClientException ex)
{
if (!ex.ToString().Contains("Task Input Error"))
{
throw new Exception("Test case CTUE00400 failed");
}
}
}
// Move robot's joints
public static void CTUE00100()
{
BinPickingTask task = CTUC00100();
// J7(linear rail), J1, J2, J3, J5, J6, J8(servo hand)
//List<double> jointValues = new List<double>() { -10.0, 0.0, 50.0, -100.0, 0.0, 0.0, 0.0 };
List <double> jointValues = new List <double>()
{
-800.0, 0.0, 35.0, 45.0, 0.0, 0.0, 0.0
};
List <int> jointIndices = new List <int>()
{
0, 1, 2, 3, 4, 5, 6
};
task.MoveJoints(jointValues, jointIndices, 20, 0.2, "");
}
// Move robot's joints - Invalid Joint Values
public static void CTUE00200()
{
BinPickingTask task = CTUC00100();
// J7 (index=0) cannot go positive.
List <double> jointValues = new List <double>()
{
-10.0, 0.0, 70.0, -140.0, 0.0, 0.0, 0.0
};
List <int> jointIndices = new List <int>()
{
0, 1, 2, 3, 4, 5, 6
};
try
{
task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
}
catch (ClientException ex)
{
System.Console.WriteLine(ex.ToString());
}
}
static void Main(string[] args)
{
if (true)
{
ControllerClient controllerClient2 = new ControllerClient("testuser", "mytestpass", "http://controller13");
//controllerClient.Initialize("mujin:/irex2013/irex2013.WPJ", "mujincollada", "wincaps", "mujin:/irex2013.mujin.dae");
//SceneResource scene2 = controllerClient2.GetScene("test.mujin.dae");
// JSON creation
//Dictionary<string, object> jsonMessage = controllerClient2.GetJsonMessage(HttpMethod.POST, "scene/?format=json", "{\"name\":\"newname\", \"reference_uri\":\"mujin:/plasticnut-center.mujin.dae\"}");
// XML creation
Dictionary <string, object> xmlMessage = controllerClient2.GetXMLMessage(HttpMethod.POST, "scene/?format=xml", "<request><name>newname3</name><reference_uri>mujin:/plasticnut-center.mujin.dae</reference_uri></request>");
}
// Default XML path:
// string xmlFilepath = AppDomain.CurrentDomain.SetupInformation.ApplicationBase + "..\\..\\samples\\getsceneinfo\\config\\connection.xml";
// Custom XML path;
string xmlFilepath = "C:\\connection2.xml";
XmlDocument document = new XmlDocument();
StreamReader reader = new StreamReader(xmlFilepath, Encoding.UTF8);
document.Load(reader);
string mujinIpAddress = document.GetElementsByTagName("ipaddress")[0].InnerText;
string scenePrimaryKey = document.GetElementsByTagName("scenepk")[0].InnerText;
string username = document.GetElementsByTagName("username")[0].InnerText;
string password = document.GetElementsByTagName("password")[0].InnerText;
string taskName = document.GetElementsByTagName("taskname")[0].InnerText;
string taskType = document.GetElementsByTagName("tasktype")[0].InnerText;
string controllerip = document.GetElementsByTagName("controllerip")[0].InnerText;
int controllerport = int.Parse(document.GetElementsByTagName("controllerport")[0].InnerText);
ControllerClient controllerClient = new ControllerClient(username, password, mujinIpAddress);
//controllerClient.Initialize("mujin:/irex2013/irex2013.WPJ", "mujincollada", "wincaps", "mujin:/irex2013.mujin.dae");
SceneResource scene = controllerClient.GetScene(scenePrimaryKey);
BinPickingTask task = (BinPickingTask)scene.GetOrCreateTaskFromName(taskName, taskType, controllerip, controllerport);
// Test1: GetJointValues
RobotState robotState = task.GetJointValues();
/*
* // Test2: MoveJoints
* robotState.jointValues[1] += 30;
* robotState.jointValues[3] -= 30;
* List<double> jointValues = new List<double>() { robotState.jointValues[1], robotState.jointValues[3] };
* List<int> jointIndices = new List<int>(){1, 3};
* task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
*/
List <double> jointValues = new List <double>()
{
45
};
List <int> jointIndices = new List <int>()
{
6
};
task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
jointValues = new List <double>()
{
0, 0, 0, 0, 0, 0, 0
};
jointIndices = new List <int>()
{
0, 1, 2, 3, 4, 5, 6
};
task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
/*
* // Test3: MoveToHandPosition
* double[] basepos = robotState.tools["1Base"];
* basepos[1] += 50;
* basepos[3] -= 50;
* task.MoveToHandPosition(new List<double>(basepos), GoalType.transform6d, "1Base", 0.2);
*/
// Test4: PickAndMove
//task.PickAndMove("container3", "camera3", "1Base", GoalType.translationdirection5d, new List<double>() { 1900, 240, 700, 0, 0, 1 }, 0.2);
}
