RobotDK jitter

Here is code od RobotDK script.

using System;
using UnityEngine;
using Sharp7;
using System.IO;
using System.Collections.Generic;
using System.Linq;
using System.Linq.Expressions;

namespace game4automation
{
public class RoboInterfaceDK : InterfaceThreadedBaseClass
{

[ReadOnly] public string notifybar;
[ReadOnly] public string txtJoints;

public string Adress = "localhost"; //!< The ip adress of the PLC

public Drive Axis1;
public Drive Axis2;
public Drive Axis3;
public Drive Axis4;
public Drive Axis5;
public Drive Axis6;



private RoboDK RDK = null;
private bool starting = true;

// Keep the ROBOT item as a global variable
private RoboDK.Item ROBOT = null;


public bool Check_RDK()
{
// check if the RDK object has been initialised:
if (RDK == null)
{
notifybar = "RoboDK has not been started";
return false;
}

// Check if the RDK API is connected
if (!RDK.Connected())
{
notifybar = "Connecting to RoboDK OK!";
// Attempt to connect to the RDK API

if (!RDK.Connect())
{

notifybar = "Problems using the RoboDK API. The RoboDK API is not available...";
return false;
}


}
return true;
}

public string Values_2_String(double[] dvalues)
{
if (dvalues == null || dvalues.Length < 1)
{
return "Invalid values";
}
// Not supported on .NET Framework 2.0:
//string strvalues = String.Join(" , ", dvalues.Select(p => p.ToString("0.0")).ToArray());
string strvalues = dvalues[0].ToString();
for (int i = 1; i < dvalues.Length; i++)
{
strvalues += " , " + dvalues[i].ToString();
}

return strvalues;
//return "";
}
public void SelectRobot()
{
notifybar = "Selecting robot...";
if (!Check_RDK())
{
ROBOT = null;
return;
}
ROBOT = RDK.ItemUserPick("Select a robot", RoboDK.ITEM_TYPE_ROBOT); // select robot among available robots
//ROBOT = RL.getItem("ABB IRB120", ITEM_TYPE_ROBOT); // select by name
//ITEM = RL.ItemUserPick("Select an item"); // Select any item in the station
if (ROBOT.Valid())
{
ROBOT.NewLink(); // This will create a new communication link (another instance of the RoboDK API), this is useful if we are moving 2 robots at the same time.
notifybar = "Using robot: " + ROBOT.Name();
}
else
{
notifybar = "Robot not available. Load a file first";
}
}

public bool Check_ROBOT(bool ignore_busy_status = false)
{
if (!Check_RDK())
{
return false;
}
if (ROBOT == null || !ROBOT.Valid())
{
notifybar = "A robot has not been selected. Load a station or a robot file first.";
SelectRobot();
return false;
}
try
{
notifybar = "Using robot: " + ROBOT.Name();
}
catch (RoboDK.RDKException rdkex)
{
notifybar = "The robot has been deleted: " + rdkex.Message;
return false;
}

// Safe check: If we are doing non blocking movements, we can check if the robot is doing other movements with the Busy command
/*if (!MOVE_BLOCKING && (!ignore_busy_status && ROBOT.Busy()))
{
notifybar = "The robot is busy!! Try later...";
return false;
}*/
return true;
}

//! Updates all signals in the parallel communication thread
protected override void CommunicationThreadUpdate()
{
if (!Check_ROBOT(true)) { return; }

double[] joints = ROBOT.Joints();
//Mat pose = ROBOT.Pose();

// update the joints
Axis1.TargetStartMove = !Axis1.TargetStartMove;
Axis1.TargetPosition = (float)joints[0];

Axis2.TargetStartMove = !Axis2.TargetStartMove;
Axis2.TargetPosition = (float)joints[1] + 90;

Axis3.TargetStartMove = !Axis3.TargetStartMove;
Axis3.TargetPosition = (float)joints[2] - 90;

Axis4.TargetStartMove = !Axis4.TargetStartMove;
Axis4.TargetPosition = (float)joints[3];

Axis5.TargetStartMove = !Axis5.TargetStartMove;
Axis5.TargetPosition = (float)joints[4];

Axis6.TargetStartMove = !Axis6.TargetStartMove;
Axis6.TargetPosition = (float)joints[5];

string strjoints = Values_2_String(joints);
txtJoints = strjoints;

}


public override void OpenInterface()
{

if (RDK == null) { RDK = new RoboDK(); }
base.OpenInterface();
}


public override void CloseInterface()
{
//if (!Check_RDK()) { ;}
// Force to stop and close RoboDK (optional)
// RDK.CloseAllStations(); // close all stations
// RDK.Save("path_to_save.rdk"); // save the project if desired
//RDK.CloseRoboDK();
RDK = null;

base.CloseInterface();
}

private void Update()
{
//Check_RDK();
/*if (Check_RDK()) { starting = false; }

if (!Check_RDK() && !starting)
{
RDK = new RoboDK();

}*/


}
}
}