UIUtilities ¶

@staticmethod
def get_or_add_color_tile(name: str, parent: Optional[robolink.Item] = None) -> robolink.Item:
    """Get a color tile item from the RoboDK item tree or create it if it doesn't exist yet.

    Args:
        name: name of the color tile
        parent: parent of the color tile

    Returns:
        the color tile
    """
    return UIUtilities.get_or_add_object(name, UIUtilities.COLOR_TILE_CAD_FILE, parent)

@staticmethod
def get_or_add_cube_segment(name: str, parent: Optional[robolink.Item] = None) -> robolink.Item:
    """Get a cube segment item from the RoboDK item tree or create it if it doesn't exist yet.

    Args:
        name: name of the cube segment
        parent: parent of the cube segment

    Returns:
        the cube segment
    """
    return UIUtilities.get_or_add_object(name, UIUtilities.CUBE_SEGMENT_CAD_FILE, parent)

@staticmethod
def get_or_add_frame(name: str, parent: Optional[robolink.Item] = None) -> robolink.Item:
    """Get an frame item from the RoboDK item tree or create it if it doesn't exist yet.

    Args:
        name: name of the frame
        parent: parent of the frame

    Returns:
        the frame
    """
    return UIUtilities.get_or_add_item(name, robolink.ITEM_TYPE_FRAME, parent=parent)

@staticmethod
def get_or_add_item(name: str, itemtype: int, parent: Optional[robolink.Item] = None, file: Optional[str] = None) -> robolink.Item:
    """Get an item from the RoboDK item tree or create it if it doesn't exist yet.

    Args:
        name: the name of the item
        itemtype: the type of the item
        parent: the parent of the item
        file: the path to the file to read the object from (e.g. STL file); only applicable if `itemtype == robolink.ITEM_TYPE_OBJECT`

    Returns:
        the desired item

    Raises:
        ValueError: The RoboDK item could not be created.
        ValueError: The retrieved RoboDK item is invalid.
    """
    item = RoboDKInterface.link.Item(name, itemtype)
    if not item.Valid():
        if itemtype == robolink.ITEM_TYPE_OBJECT:
            item = RoboDKInterface.link.AddFile(file, parent)
            item.setName(name)
        elif itemtype == robolink.ITEM_TYPE_FRAME:
            item = RoboDKInterface.link.AddFrame(name, parent)
        elif itemtype == robolink.ITEM_TYPE_TARGET:
            item = RoboDKInterface.link.AddTarget(name, parent)
        else:
            raise ValueError("Cannot create Item of type '{}'.".format(type(itemtype)))

    if item.Valid():
        if isinstance(parent, robolink.Item) and parent.Valid():
            item.setParent(parent)
        return item
    else:
        raise ValueError("Specified item is invalid: '{}'".format(name))

@staticmethod
def get_or_add_object(name: str, file: str, parent: Optional[robolink.Item] = None) -> robolink.Item:
    """Get an object item from the RoboDK item tree or create it if it doesn't exist yet.

    Args:
        name: name of the object
        parent: parent of the object
        file: the filepath of the object (e.g. STEP/STL/OBJ etc.)

    Returns:
        the object
    """
    return UIUtilities.get_or_add_item(name, robolink.ITEM_TYPE_OBJECT, parent=parent, file=file)

@staticmethod
def set_pose(
        item: robolink.Item,
        cs: Optional[CoordinateSystem] = None,
        x: float = 0,
        y: float = 0,
        z: float = 0,
        rx: float = 0,
        ry: float = 0,
        rz: float = 0,
        scaling: float = 1):
    """Set the pose of the specified RoboDK item using either a `CoordinateSystem` cs or x, y, z, rx, ry and rz.

    In the latter case a scaling factor can be set.
    If the `CoordinateSystem` cs is given all other parameters are ignored.

    Args:
        item: the item to set the position for
        cs: coordinate system to read translation and rotation from
        x: translation along the x axis
        y: translation along the y axis
        z: translation along the z axis
        rx: rotation around x axis
        ry: rotation around y axis
        rz: rotation around z axis
        scaling: factor to apply to the translation
    """
    if isinstance(cs, CoordinateSystem):
        mat = robodk.Mat()
        mat.setVX(list(cs.base[:, 0]))
        mat.setVY(list(cs.base[:, 1]))
        mat.setVZ(list(cs.base[:, 2]))
        # set pos only accepts ints or floats (np.int64 is not supported)
        mat.setPos(list(map(int, cs.origin * scaling)))

        item.setPose(mat)
    else:
        item.setPose(robodk.KUKA_2_Pose([x*scaling, y*scaling, z*scaling, rz, ry, rx]))