// Move robot's joints based on hand position - Invalid goal position
public static void CTUF00500()
{
BinPickingTask task = CTUC00100();
// For transform6d, X[mm], Y[mm], Z[mm], RX[deg], RY[deg], RZ[deg]
List <double> goalpos = new List <double>()
{
1500, 0, 600, 0, 0, 0
};
task.MoveToHandPosition(goalpos, GoalType.transform6d, "1Base", 0.2, 60000);
}
// Move robot's joints based on hand position - translatedirection5d
public static void CTUF00200()
{
BinPickingTask task = CTUC00100();
// For translationdirection5d, X[mm], Y[mm], Z[mm], DX[mm], DY[mm], DZ[mm]
List <double> goalpos = new List <double>()
{
1500, 900, 500, 0, 0, 0
};
task.MoveToHandPosition(goalpos, GoalType.translationdirection5d, "1Base", 0.2, 60000);
}
// Move robot's joints based on hand position - Invalid tool name
public static void CTUF00600()
{
BinPickingTask task = CTUC00100();
// For transform6d, X[mm], Y[mm], Z[mm], RX[deg], RY[deg], RZ[deg]
List <double> goalpos = new List <double>()
{
1500, 900, 500, 0, 0, 0
};
try
{
task.MoveToHandPosition(goalpos, GoalType.transform6d, "hogehoge", 0.2, 60000);
}
catch (ClientException ex)
{
if (!ex.ToString().Contains("failed to find manipulator with name"))
{
throw new Exception("Test case CTUF00600 failed");
}
}
}
