How to make robot evaluate gestures

.Net Add-on Programming
1

Hi,
I tried to make a simulation, when I choose endpoints of edges, and generate Line statement, and robot will also move to those endpoints. But the gesture of robot is wrong, collision happened. So how do I evaluate gesture of robot by c#.
B.R.
wzl

here is my pseudo code to generate statement:

    var geo=Node.GeometrySets.First();
     var cur=geo.TopologyCurves.First();
    var edge = cur.Edge;
     var eps = edge.Endpoints;
     var state=  MainRoutine.AddStatement<LinStatement>();
                   
                           
   
                            
                            var pe = state.Positions[0];
                            pe.TransformationInWorld = rel;
                            var pq = pe.TransformationInWorld;
                            pq.Px += eps.Item2.X;
                            pq.Py += eps.Item2.Y;
                            pq.Pz += eps.Item2.Z;
                            pe.TransformationInWorld = pq;
2

I provide my current practices,it works for almost all situations:

var myposMatrix=new Matrix();
//type your own operation on myposMatrix
var posfram=statement.Position[0];
posfram.TransformationInWorld = myposMatrix;
int configNum=8;
for(int i=0;i<configNum;i++)
{
posfram.Configuration=i;
statement.ExecuteImmediate();
var rbtcont = robot.RobotController;
var jtdouble= robot.RobotController.Joints.Select(c => c.Value).ToArray();
var ok= CheckingConfig(rbt);
if (ok)
{
posframe.SetJoints(jtdouble);
break;
}

}

private bool CheckingConfig(IRobot rbt)
{
var jts = rbt.Controller.Joints;
var maxs = jts.Select(c => c.MaxValue).ToArray();
var mins = jts.Select(c => c.MinValue).ToArray();
var jtdouble = rbt.RobotController.Joints.Select(c => c.Value).ToArray();
for (int i = 0; i < jtdouble.Length; i++)
{
var val = jtdouble[i];
if (maxs[i] <val || mins[i] > val)
{
return false;
}

        }
        return true;
       
   
    }