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