def BuildObstacle(TurnAngle=0, Center=[200, 100, 0], L=0, W=0, H=0):
Obstacle = Structure.Base("uArm_Base")
Obstacle.Length, Obstacle.Width, Obstacle.Height = 0, 0, 0
Obstacle.Origin = Center
Obstacle.End = Center
Obstacle.update()
TurnTable = Structure.TurnTable("ArmLvl")
TurnTable.Length, TurnTable.Width, TurnTable.Height = L, W, H
TurnTable.Origin = Center
TurnTable.End = Center
TurnTable.ConnectPoint = Center
TurnTable.TurnedAngle = TurnAngle
TurnTable.ConnectPre(Obstacle)
TurnTable.center = Center
TurnTable.update()
return Obstacle
def BuildDefaultuArm():
uArm_Base = Structure.Base("uArm_Base")
TurnTable = Structure.TurnTable("TurnTable")
Arm1 = Structure.Arm(
"Arm1", [[8, -16, 192], [8, 16, 192], [-55, 16, 192], [8, -16, 0]],
[0, 0, 142])
Arm1.LimInterval = [-40, 90]
Arm1.TurnedAngle = -40
Arm2 = Structure.Arm(
"Arm2",
[[0, -10, 158.8], [-60, -10, 158.8], [-60, 10, 158.8], [0, -10, 0]],
[0, 0, 158.8])
Arm2.LimInterval = [0, 180]
Arm2.TurnedAngle = 180
ArmLvl = Structure.ArmLvl(
"ArmLvl",
[[44.5, -15, 35], [44.5, 15, 35], [-44.5, 15, 35], [44.5, -15, -25]],
[44.5, 0, 0])
TurnTable.ConnectPre(uArm_Base)
Arm1.ConnectPre(TurnTable)
Arm2.ConnectPre(Arm1)
ArmLvl.ConnectPre(Arm2)
return uArm_Base
