def createBox(RDK=None):
if RDK is None:
RDK = Robolink()
global BOX_SIZE_XYZ
global USE_METRIC
global PARENT
global CONV_PARENT
RDK.Render(False)
x, y, z = BOX_SIZE_XYZ
if USE_METRIC:
new_box = RDK.AddFile(REF_BOX_MM_PATH, PARENT)
new_box.setName(BOX_ITEM_NAME_MM % (x, y, z))
else:
new_box = RDK.AddFile(REF_BOX_IN_PATH, PARENT)
new_box.setName(BOX_ITEM_NAME_IN % (x, y, z))
new_box.setPose(eye(4))
new_box.Scale([x, y, z])
RDK.Update()
if CONV_PARENT is not None:
new_box.setParentStatic(CONV_PARENT)
new_box.setVisible(True)
RDK.Render(True)
def AttachCamera():
RDK = Robolink()
item2station_pose = eye(4)
view_pose_last = eye(4)
last_item = None
RDK.Render()
run = RunApplication()
while run.Run():
# Retrieve user selection
selected_items = RDK.Selection()
if len(selected_items) <= 0:
last_item = None
continue
# Use the first selected item to attach the camera
item = selected_items[0]
# Prevent selecting programs or instructions or anything that doesn't move
if item.type == ITEM_TYPE_ROBOT or item.type == ITEM_TYPE_TOOL or item.type == ITEM_TYPE_FRAME or item.type == ITEM_TYPE_OBJECT or item.type == ITEM_TYPE_TARGET:
item_pose = item.PoseAbs(
) # Selected item pose with respect to the station reference
item2station_pose = item_pose.inv()
if last_item != item:
# If it is the first time we select this item: update the relationship camera 2 item pose
view_pose = RDK.ViewPose(
) # View Pose (camera pose with respect to the station reference)
camera2item_pose = (item2station_pose * view_pose.inv()).inv()
msg = 'Camera attached to %s' % item.Name()
print(msg)
RDK.ShowMessage(msg, False)
last_item = item
else:
# calculate the new view pose and udpate it
view_pose = camera2item_pose * item2station_pose
# Only update if the view pose changed
if view_pose != view_pose_last:
view_pose_last = view_pose
RDK.setViewPose(view_pose)
RDK.Render()
