2.RoboDK API (RoboDK包)- RoboDK API文档</t我tle> <link rel="stylesheet" href="//www.sinclairbody.com/doc/en/PythonAPI/_static/css/theme.css" type="text/css"> <link rel="stylesheet" href="//www.sinclairbody.com/doc/en/PythonAPI/_static/pygments.css" type="text/css"> <link rel="stylesheet" href="//www.sinclairbody.com/doc/en/PythonAPI/_static/pygments.css" type="text/css"> <link rel="stylesheet" href="//www.sinclairbody.com/doc/en/PythonAPI/_static/css/theme.css" type="text/css"> </head> <body class="wy-body-for-nav"> <div class="wy-grid-for-nav"> <nav data-toggle="wy-nav-shift" class="wy-nav-side"> <div class="wy-side-scroll"> <div class="wy-side-nav-search"> <a href="//www.sinclairbody.com/doc/en/PythonAPI/index.html" class="icon icon-home">RoboDK API<我米g src="//www.sinclairbody.com/doc/en/PythonAPI/_static/weblogo.svg" class="logo" alt="标志”></一个><d我v类＝”version"> 5.4</d我v><d我vrole="search"> <form id="rtd-search-form" class="wy-form" action="search.html" method="get"> <input type="text" name="q" placeholder="Search docs"> <input type="hidden" name="check_keywords" value="是的”><我nput type="hidden" name="area" value="默认的”></为米></d我v></d我v> <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation"> <ul class="current"> <li class="toctree-l1"><a class="reference internal" href="//www.sinclairbody.com/doc/en/PythonAPI/intro.html">1.简介</一个></li> <li class="toctree-l1 current"><a class="current reference internal" href="#">2.RoboDK API (RoboDK包)</一个><ul> <li class="toctree-l2"><a class="reference internal" href="#robolink-py">2.1.robolink.py</一个></li> <li class="toctree-l2"><a class="reference internal" href="#robomath-py">2.2.robomath.py</一个></li> <li class="toctree-l2"><a class="reference internal" href="#robodialogs-py">2.3.robodialogs.py</一个></li> <li class="toctree-l2"><a class="reference internal" href="#robofileio-py">2.4.robofileio.py</一个></li> <li class="toctree-l2"><a class="reference internal" href="#roboapps-py">2.5.roboapps.py</一个></li> <li class="toctree-l2"><a class="reference internal" href="#robolinkutils-py">2.6.robolinkutils.py</一个></li> </ul></li> <li class="toctree-l1"><a class="reference internal" href="//www.sinclairbody.com/doc/en/PythonAPI/postprocessor.html">3.后处理器</一个></li> <li class="toctree-l1"><a class="reference internal" href="//www.sinclairbody.com/doc/en/PythonAPI/examples.html">4.例子</一个></li> </ul> </div> </div> </nav> <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"> <nav class="wy-nav-top" aria-label="top navigation"> <i data-toggle="wy-nav-top" class="fa fa-bars"></i> <a href="//www.sinclairbody.com/doc/en/PythonAPI/index.html">RoboDK API</一个></nav> <div class="wy-nav-content"> <div class="rst-content"> <div role="navigation" aria-label="breadcrumbs navigation"> <ul class="wy-breadcrumbs"> <li><a href="//www.sinclairbody.com/doc/en/PythonAPI/index.html" class="icon icon-home"></a>»</li> <li><span class="section-number">2.</span>RoboDK API (RoboDK包)</li> <li class="wy-breadcrumbs-aside"></li> </ul> <hr> </div> <div role="main" class="document" itemscope itemtype="http://schema.org/Article"> <div itemprop="articleBody"> <div class="section" id="robodk-api-robodk-package"> <span id="robodk"></span> <h1><span class="section-number">2.</span>RoboDK API (RoboDK包)<一个类＝”headerlink" href="#robodk-api-robodk-package" title="¶”>¶</一个></h1> <div class="admonition warning"> <p class="admonition-title">警告</p><p><strong>RoboDK API在5.4.0版本进行了重构。</strong></p> <p>这些更改是向后兼容的，但不是向前兼容的。实际上，robolink.py模块现在是robodk包的一个子模块(robodk.robolink)，而robodk.py现在被分割成不同的子模块(robodk.robolink)。robomath robodk。robodialogs, robodk.robofileio).</p><p>你可以在这里访问5.4.0版本之前的文档:<一个类＝”reference external" href="//www.sinclairbody.com/doc/en/PythonAPI/v0/index.html">//www.sinclairbody.com/doc/en/PythonAPI/v0/index.html</一个></p><p><strong>之前5.4.0</strong></p> <p>我们的大多数例子都使用了下面的import方法:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk</span><span class="kn">进口</span><span class="o">＊</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">构成</span><span class="o">＝</span><span class="n">眼睛</span><span class="p">（）</span><span class="n">ITEM_TYPE_ROBOT</span></pre> </div> </div> <p><strong>5.4.0后</strong></p> <p>您可以使用以下任何一种导入方法:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk</span><span class="kn">进口</span><span class="n">robolink</span><span class="p">，</span><span class="n">robomath</span><span class="n">RDK</span><span class="o">＝</span><span class="n">robolink</span><span class="o">．</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">构成</span><span class="o">＝</span><span class="n">robomath</span><span class="o">．</span><span class="n">眼睛</span><span class="p">（）</span><span class="n">robolink</span><span class="o">．</span><span class="n">ITEM_TYPE_ROBOT</span></pre> </div> </div> <div class="highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="n">Robolink</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="n">眼睛</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">构成</span><span class="o">＝</span><span class="n">眼睛</span><span class="p">（）</span><span class="n">ITEM_TYPE_ROBOT</span></pre> </div> </div> <div class="highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">构成</span><span class="o">＝</span><span class="n">眼睛</span><span class="p">（）</span><span class="n">ITEM_TYPE_ROBOT</span></pre> </div> </div> </div> <p>robodk包是Python API的分布式入口点。它是构成Python API的所有子包和模块的公共父包。</p><dl class="simple"> <dt> RoboDK API概述:</dt><dd><ul class="simple"> <li><p><a class="reference external" href="//www.sinclairbody.com/doc/en/RoboDK-API.html">//www.sinclairbody.com/doc/en/RoboDK-API.html</一个></p></li> </ul> </dd> </dl> <div class="section" id="robolink-py"> <span id="robolink"></span> <h2><span class="section-number">2.1.</span>robolink.py<一个类＝”headerlink" href="#robolink-py" title="¶”>¶</一个></h2> <p>robolink子模块是RoboDK和Python之间的桥梁。RoboDK项目树中的每个对象都可以检索，并由对象item表示。项目可以是机器人、参考系、工具、对象或在站树中可见的任何其他项目。</p><dl class="simple"> <dt> RoboDK API概述:</dt><dd><ul class="simple"> <li><p><a class="reference external" href="//www.sinclairbody.com/doc/en/RoboDK-API.html">//www.sinclairbody.com/doc/en/RoboDK-API.html</一个></p></li> </ul> </dd> </dl> <p>下面的示例使用robodk和robolink库移动一个机器人。</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robolink库(与RoboDK桥接)</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#建立与模拟器的链接</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“ABB IRB120”</span><span class="p">）</span><span class="c1">#按名称检索机器人</span><span class="n">机器人</span><span class="o">．</span><span class="n">setJoints</span><span class="p">([</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">])</span><span class="c1">#设置所有机器人轴为零</span><span class="n">目标</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“目标”</span><span class="p">）</span><span class="c1">#检索目标项</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">目标</span><span class="p">）</span><span class="c1">#移动机器人到目标</span><span class="c1">#计算一个新的接近位置，沿着工具相对于目标的Z轴100mm</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入机器人工具箱</span><span class="n">方法</span><span class="o">＝</span><span class="n">目标</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="o">＊</span><span class="n">transl</span><span class="p">（</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="mi">One hundred.</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">方法</span><span class="p">）</span><span class="c1">线性移动到接近位置</span></pre> </div> </div> <p>下面的宏显示了一个沿着六边形路径移动机器人的基本示例:<br><一个类＝”reference external" href="robodk:PATH_MACROS-SampleOnlineProgramming.py">/ RoboDK /图书馆/ SampleOfflineProgramming.py</一个>．</p><dl class="simple"> <dt> 示例可在<一个类＝”reference internal" href="//www.sinclairbody.com/doc/en/PythonAPI/examples.html"><span class="std std-ref">例子</span></a>节和RoboDK API GitHub存储库:</dt><dd><ul class="simple"> <li><p><a class="reference external" href="https://github.com/RoboDK/RoboDK-API/tree/master/Python/Examples">https://github.com/RoboDK/RoboDK-API/tree/master/Python/Examples</一个></p></li> </ul> </dd> </dl> <span class="target" id="module-robodk.robolink"></span> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_STATION"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_STATION</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_STATION" title="¶”>¶</一个></dt><dd><p>站<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>(．rdk files)</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_ROBOT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_ROBOT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_ROBOT" title="¶”>¶</一个></dt><dd><p>机器人<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>(．robot files)</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_FRAME"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_FRAME</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_FRAME" title="¶”>¶</一个></dt><dd><p>参考系<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_TOOL"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_TOOL</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_TOOL" title="¶”>¶</一个></dt><dd><p>工具<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>(．来ol files or tools without geometry)</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_OBJECT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_OBJECT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">5</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_OBJECT" title="¶”>¶</一个></dt><dd><p>对象<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>(．Stl, step, iges，…)</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_TARGET"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_TARGET</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">6</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_TARGET" title="¶”>¶</一个></dt><dd><p>目标<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_CURVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_CURVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">7</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_CURVE" title="¶”>¶</一个></dt><dd><p>曲线<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_PROGRAM"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_PROGRAM</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">8</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_PROGRAM" title="¶”>¶</一个></dt><dd><p>程序<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_INSTRUCTION"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_INSTRUCTION</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">9</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_INSTRUCTION" title="¶”>¶</一个></dt><dd><p>程序指令<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_PROGRAM_PYTHON"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_PROGRAM_PYTHON</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">10</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_PROGRAM_PYTHON" title="¶”>¶</一个></dt><dd><p>Python程序或宏<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>(. py文件)</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_MACHINING"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_MACHINING</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">11</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_MACHINING" title="¶”>¶</一个></dt><dd><p>加工项目<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_BALLBARVALIDATION"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_BALLBARVALIDATION</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">12</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_BALLBARVALIDATION" title="¶”>¶</一个></dt><dd><p>球棒验证试验<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_CALIBPROJECT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_CALIBPROJECT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">13</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_CALIBPROJECT" title="¶”>¶</一个></dt><dd><p>校准<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_VALID_ISO9283"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_VALID_ISO9283</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">14</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_VALID_ISO9283" title="¶”>¶</一个></dt><dd><p>ISO9283验证测试<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_FOLDER"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_FOLDER</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">17</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_FOLDER" title="¶”>¶</一个></dt><dd><p>文件夹<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_ROBOT_ARM"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_ROBOT_ARM</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">18</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_ROBOT_ARM" title="¶”>¶</一个></dt><dd><p>机器人手臂<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>(ITEM_TYPE_ROBOT的子类型用于机械臂)</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_CAMERA"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_CAMERA</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">19</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_CAMERA" title="¶”>¶</一个></dt><dd><p>相机<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_GENERIC"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_GENERIC</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">20.</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_GENERIC" title="¶”>¶</一个></dt><dd><p>通用的<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_ROBOT_AXES"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_ROBOT_AXES</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">21</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_ROBOT_AXES" title="¶”>¶</一个></dt><dd><p>机器人轴<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>(轴的ITEM_TYPE_ROBOT的子类型)</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ITEM_TYPE_NOTES"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ITEM_TYPE_NOTES</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">22</span></em> <a class="headerlink" href="#robodk.robolink.ITEM_TYPE_NOTES" title="¶”>¶</一个></dt><dd><p>笔记<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INS_TYPE_INVALID"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INS_TYPE_INVALID</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">－1</span></em> <a class="headerlink" href="#robodk.robolink.INS_TYPE_INVALID" title="¶”>¶</一个></dt><dd><p>a的指令类型无效<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INS_TYPE_MOVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INS_TYPE_MOVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.INS_TYPE_MOVE" title="¶”>¶</一个></dt><dd><p>的Move (MoveC除外)指令类型<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INS_TYPE_MOVEC"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INS_TYPE_MOVEC</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.INS_TYPE_MOVEC" title="¶”>¶</一个></dt><dd><p>MoveC指令类型<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INS_TYPE_CHANGESPEED"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INS_TYPE_CHANGESPEED</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.INS_TYPE_CHANGESPEED" title="¶”>¶</一个></dt><dd><p>设置a的Speed指令类型<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INS_TYPE_CHANGEFRAME"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INS_TYPE_CHANGEFRAME</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.</span></em> <a class="headerlink" href="#robodk.robolink.INS_TYPE_CHANGEFRAME" title="¶”>¶</一个></dt><dd><p>设置a的帧指令类型<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INS_TYPE_CHANGETOOL"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INS_TYPE_CHANGETOOL</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.INS_TYPE_CHANGETOOL" title="¶”>¶</一个></dt><dd><p>a的“工具指令类型”<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INS_TYPE_CHANGEROBOT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INS_TYPE_CHANGEROBOT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">5</span></em> <a class="headerlink" href="#robodk.robolink.INS_TYPE_CHANGEROBOT" title="¶”>¶</一个></dt><dd><p>设置a的Robot指令类型<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INS_TYPE_PAUSE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INS_TYPE_PAUSE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">6</span></em> <a class="headerlink" href="#robodk.robolink.INS_TYPE_PAUSE" title="¶”>¶</一个></dt><dd><p>暂停指令类型<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INS_TYPE_EVENT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INS_TYPE_EVENT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">7</span></em> <a class="headerlink" href="#robodk.robolink.INS_TYPE_EVENT" title="¶”>¶</一个></dt><dd><p>仿真a的事件指令类型<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INS_TYPE_CODE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INS_TYPE_CODE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">8</span></em> <a class="headerlink" href="#robodk.robolink.INS_TYPE_CODE" title="¶”>¶</一个></dt><dd><p>的代码指令类型<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INS_TYPE_PRINT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INS_TYPE_PRINT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">9</span></em> <a class="headerlink" href="#robodk.robolink.INS_TYPE_PRINT" title="¶”>¶</一个></dt><dd><p>显示消息指令类型<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INS_TYPE_ROUNDING"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INS_TYPE_ROUNDING</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">10</span></em> <a class="headerlink" href="#robodk.robolink.INS_TYPE_ROUNDING" title="¶”>¶</一个></dt><dd><p>的舍入指令类型<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MOVE_TYPE_INVALID"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MOVE_TYPE_INVALID</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">－1</span></em> <a class="headerlink" href="#robodk.robolink.MOVE_TYPE_INVALID" title="¶”>¶</一个></dt><dd><p>移动类型无效<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MOVE_TYPE_JOINT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MOVE_TYPE_JOINT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.MOVE_TYPE_JOINT" title="¶”>¶</一个></dt><dd><p>联合移动(MoveJ)类型的<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MOVE_TYPE_LINEAR"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MOVE_TYPE_LINEAR</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.MOVE_TYPE_LINEAR" title="¶”>¶</一个></dt><dd><p>线性移动(MoveL)类型的<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MOVE_TYPE_CIRCULAR"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MOVE_TYPE_CIRCULAR</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.</span></em> <a class="headerlink" href="#robodk.robolink.MOVE_TYPE_CIRCULAR" title="¶”>¶</一个></dt><dd><p>循环移动(MoveC)类型的<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MOVE_TYPE_LINEARSEARCH"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MOVE_TYPE_LINEARSEARCH</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">5</span></em> <a class="headerlink" href="#robodk.robolink.MOVE_TYPE_LINEARSEARCH" title="¶”>¶</一个></dt><dd><p>线性搜索移动(SearchL)类型的<code class="xref py py-class docutils literal notranslate"><span class="pre">ITEM_TYPE_INSTRUCTION</span></code></p> </dd> </dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.PATH_OPENSTATION"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">PATH_OPENSTATION</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">“PATH_OPENSTATION”</span></em> <a class="headerlink" href="#robodk.robolink.PATH_OPENSTATION" title="¶”>¶</一个></dt><dd><p>当前站的完整路径(。RDK文件)请求标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FILE_OPENSTATION"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FILE_OPENSTATION</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">“FILE_OPENSTATION”</span></em> <a class="headerlink" href="#robodk.robolink.FILE_OPENSTATION" title="¶”>¶</一个></dt><dd><p>当前站点的文件名(.rdk文件的名称)请求标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.RUNMODE_SIMULATE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">RUNMODE_SIMULATE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.RUNMODE_SIMULATE" title="¶”>¶</一个></dt><dd><p>执行移动机器人的模拟(默认)</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.RUNMODE_QUICKVALIDATE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">RUNMODE_QUICKVALIDATE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.RUNMODE_QUICKVALIDATE" title="¶”>¶</一个></dt><dd><p>执行快速检查以验证机器人的运动</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.RUNMODE_MAKE_ROBOTPROG"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">RUNMODE_MAKE_ROBOTPROG</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.</span></em> <a class="headerlink" href="#robodk.robolink.RUNMODE_MAKE_ROBOTPROG" title="¶”>¶</一个></dt><dd><p>制作机器人程序</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD" title="¶”>¶</一个></dt><dd><p>制作机器人程序并将其更新到机器人</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.RUNMODE_MAKE_ROBOTPROG_AND_START"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">RUNMODE_MAKE_ROBOTPROG_AND_START</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">5</span></em> <a class="headerlink" href="#robodk.robolink.RUNMODE_MAKE_ROBOTPROG_AND_START" title="¶”>¶</一个></dt><dd><p>制作机器人程序并在机器人上启动(独立于PC)</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.RUNMODE_RUN_ROBOT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">RUNMODE_RUN_ROBOT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">6</span></em> <a class="headerlink" href="#robodk.robolink.RUNMODE_RUN_ROBOT" title="¶”>¶</一个></dt><dd><p>将真实机器人从PC移出(PC是客户端，机器人像服务器一样工作)</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.PROGRAM_RUN_ON_SIMULATOR"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">PROGRAM_RUN_ON_SIMULATOR</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.PROGRAM_RUN_ON_SIMULATOR" title="¶”>¶</一个></dt><dd><p>运行模拟器程序标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.PROGRAM_RUN_ON_ROBOT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">PROGRAM_RUN_ON_ROBOT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.PROGRAM_RUN_ON_ROBOT" title="¶”>¶</一个></dt><dd><p>在机器人程序标志上运行</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ROBOTCOM_PROBLEMS"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ROBOTCOM_PROBLEMS</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3</span></em> <a class="headerlink" href="#robodk.robolink.ROBOTCOM_PROBLEMS" title="¶”>¶</一个></dt><dd><p>连接状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ROBOTCOM_DISCONNECTED"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ROBOTCOM_DISCONNECTED</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">－2</span></em> <a class="headerlink" href="#robodk.robolink.ROBOTCOM_DISCONNECTED" title="¶”>¶</一个></dt><dd><p>断开连接状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ROBOTCOM_NOT_CONNECTED"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ROBOTCOM_NOT_CONNECTED</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">－1</span></em> <a class="headerlink" href="#robodk.robolink.ROBOTCOM_NOT_CONNECTED" title="¶”>¶</一个></dt><dd><p>未连接连接状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ROBOTCOM_READY"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ROBOTCOM_READY</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.ROBOTCOM_READY" title="¶”>¶</一个></dt><dd><p>连接就绪状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ROBOTCOM_WORKING"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ROBOTCOM_WORKING</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.ROBOTCOM_WORKING" title="¶”>¶</一个></dt><dd><p>工作连接状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ROBOTCOM_WAITING"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ROBOTCOM_WAITING</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.ROBOTCOM_WAITING" title="¶”>¶</一个></dt><dd><p>连接状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ROBOTCOM_UNKNOWN"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ROBOTCOM_UNKNOWN</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">-1000年</span></em> <a class="headerlink" href="#robodk.robolink.ROBOTCOM_UNKNOWN" title="¶”>¶</一个></dt><dd><p>连接状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.CALIBRATE_TCP_BY_POINT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">CALIBRATE_TCP_BY_POINT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.CALIBRATE_TCP_BY_POINT" title="¶”>¶</一个></dt><dd><p>根据点标记校准TCP</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.CALIBRATE_TCP_BY_PLANE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">CALIBRATE_TCP_BY_PLANE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.CALIBRATE_TCP_BY_PLANE" title="¶”>¶</一个></dt><dd><p>根据飞机标志校准TCP</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.CALIBRATE_TCP_BY_PLANE_SCARA"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">CALIBRATE_TCP_BY_PLANE_SCARA</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.CALIBRATE_TCP_BY_PLANE_SCARA" title="¶”>¶</一个></dt><dd><p>根据平面(SCARA)标志校准TCP</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.CALIBRATE_FRAME_3P_P1_ON_X"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">CALIBRATE_FRAME_3P_P1_ON_X</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.CALIBRATE_FRAME_3P_P1_ON_X" title="¶”>¶</一个></dt><dd><p>校准帧3点:[X, X+， Y+] (p1在X轴上)标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.CALIBRATE_FRAME_3P_P1_ORIGIN"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">CALIBRATE_FRAME_3P_P1_ORIGIN</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.CALIBRATE_FRAME_3P_P1_ORIGIN" title="¶”>¶</一个></dt><dd><p>通过3点校准帧:[原点，X+， XY+] (p1为原点)标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.CALIBRATE_FRAME_6P"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">CALIBRATE_FRAME_6P</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.CALIBRATE_FRAME_6P" title="¶”>¶</一个></dt><dd><p>通过6点标志校准框架</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.CALIBRATE_TURNTABLE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">CALIBRATE_TURNTABLE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.</span></em> <a class="headerlink" href="#robodk.robolink.CALIBRATE_TURNTABLE" title="¶”>¶</一个></dt><dd><p>校准转盘标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.CALIBRATE_TURNTABLE_2X"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">CALIBRATE_TURNTABLE_2X</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.CALIBRATE_TURNTABLE_2X" title="¶”>¶</一个></dt><dd><p>校准一个2轴转盘标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.PROJECTION_NONE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">PROJECTION_NONE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.PROJECTION_NONE" title="¶”>¶</一个></dt><dd><p>没有曲线/点投影</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.PROJECTION_CLOSEST"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">PROJECTION_CLOSEST</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.PROJECTION_CLOSEST" title="¶”>¶</一个></dt><dd><p>投影将是曲面上最近的点</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.PROJECTION_ALONG_NORMAL"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">PROJECTION_ALONG_NORMAL</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.PROJECTION_ALONG_NORMAL" title="¶”>¶</一个></dt><dd><p>投影将沿着法线进行</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.PROJECTION_ALONG_NORMAL_RECALC"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">PROJECTION_ALONG_NORMAL_RECALC</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.</span></em> <a class="headerlink" href="#robodk.robolink.PROJECTION_ALONG_NORMAL_RECALC" title="¶”>¶</一个></dt><dd><p>投影将沿着法线进行。并根据表面法线重新计算法线</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.PROJECTION_CLOSEST_RECALC"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">PROJECTION_CLOSEST_RECALC</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.PROJECTION_CLOSEST_RECALC" title="¶”>¶</一个></dt><dd><p>投影将是表面上最近的点，法线将被重新计算</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.PROJECTION_RECALC"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">PROJECTION_RECALC</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">5</span></em> <a class="headerlink" href="#robodk.robolink.PROJECTION_RECALC" title="¶”>¶</一个></dt><dd><p>法线是根据最近投影的表面法线重新计算的。分数不变。</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.JOINT_FORMAT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">JOINT_FORMAT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">－1</span></em> <a class="headerlink" href="#robodk.robolink.JOINT_FORMAT" title="¶”>¶</一个></dt><dd><p>关节(不是姿势)欧拉格式标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.EULER_RX_RYp_RZpp"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">EULER_RX_RYp_RZpp</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.EULER_RX_RYp_RZpp" title="¶”>¶</一个></dt><dd><p><a class="reference external" href="RX:RYp:RZpp">处方:RYp: RZpp</一个>（通用)欧拉格式标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.EULER_RZ_RYp_RXpp"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">EULER_RZ_RYp_RXpp</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.EULER_RZ_RYp_RXpp" title="¶”>¶</一个></dt><dd><p>RZ:RYp:RXpp (ABB RobotStudio)欧拉格式标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.EULER_RZ_RYp_RZpp"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">EULER_RZ_RYp_RZpp</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.EULER_RZ_RYp_RZpp" title="¶”>¶</一个></dt><dd><p>RZ:RYp:RZpp(川崎、爱德普、史陶比尔)欧拉格式标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.EULER_RZ_RXp_RZpp"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">EULER_RZ_RXp_RZpp</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.</span></em> <a class="headerlink" href="#robodk.robolink.EULER_RZ_RXp_RZpp" title="¶”>¶</一个></dt><dd><p>RZ:RXp:RZpp (CATIA、SolidWorks)欧拉格式标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.EULER_RX_RY_RZ"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">EULER_RX_RY_RZ</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.EULER_RX_RY_RZ" title="¶”>¶</一个></dt><dd><p><a class="reference external" href="RX:RY:RZ">处方:一:RZ</一个>（发那科，库卡，Motoman, Nachi)欧拉格式标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.EULER_RZ_RY_RX"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">EULER_RZ_RY_RX</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">5</span></em> <a class="headerlink" href="#robodk.robolink.EULER_RZ_RY_RX" title="¶”>¶</一个></dt><dd><p>RZ:RY:RX (CRS)欧拉格式标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.EULER_QUEATERNION"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">EULER_QUEATERNION</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">6</span></em> <a class="headerlink" href="#robodk.robolink.EULER_QUEATERNION" title="¶”>¶</一个></dt><dd><p>四元数(ABB Rapid)欧拉格式标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.WINDOWSTATE_HIDDEN"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">WINDOWSTATE_HIDDEN</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">－1</span></em> <a class="headerlink" href="#robodk.robolink.WINDOWSTATE_HIDDEN" title="¶”>¶</一个></dt><dd><p>隐藏RoboDK窗口状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.WINDOWSTATE_SHOW"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">WINDOWSTATE_SHOW</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.WINDOWSTATE_SHOW" title="¶”>¶</一个></dt><dd><p>显示RoboDK窗口状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.WINDOWSTATE_MINIMIZED"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">WINDOWSTATE_MINIMIZED</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.WINDOWSTATE_MINIMIZED" title="¶”>¶</一个></dt><dd><p>最小化RoboDK窗口状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.WINDOWSTATE_NORMAL"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">WINDOWSTATE_NORMAL</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.WINDOWSTATE_NORMAL" title="¶”>¶</一个></dt><dd><p>RoboDK窗口正常状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.WINDOWSTATE_MAXIMIZED"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">WINDOWSTATE_MAXIMIZED</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.</span></em> <a class="headerlink" href="#robodk.robolink.WINDOWSTATE_MAXIMIZED" title="¶”>¶</一个></dt><dd><p>最大化RoboDK窗口状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.WINDOWSTATE_FULLSCREEN"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">WINDOWSTATE_FULLSCREEN</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.WINDOWSTATE_FULLSCREEN" title="¶”>¶</一个></dt><dd><p>全屏RoboDK窗口状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.WINDOWSTATE_CINEMA"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">WINDOWSTATE_CINEMA</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">5</span></em> <a class="headerlink" href="#robodk.robolink.WINDOWSTATE_CINEMA" title="¶”>¶</一个></dt><dd><p>影院RoboDK窗口状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.WINDOWSTATE_FULLSCREEN_CINEMA"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">WINDOWSTATE_FULLSCREEN_CINEMA</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">6</span></em> <a class="headerlink" href="#robodk.robolink.WINDOWSTATE_FULLSCREEN_CINEMA" title="¶”>¶</一个></dt><dd><p>全屏和影院RoboDK窗口状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.WINDOWSTATE_VIDEO"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">WINDOWSTATE_VIDEO</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">7</span></em> <a class="headerlink" href="#robodk.robolink.WINDOWSTATE_VIDEO" title="¶”>¶</一个></dt><dd><p>视频RoboDK窗口状态</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INSTRUCTION_CALL_PROGRAM"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INSTRUCTION_CALL_PROGRAM</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.INSTRUCTION_CALL_PROGRAM" title="¶”>¶</一个></dt><dd><p>程序调用指令类型</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INSTRUCTION_INSERT_CODE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INSTRUCTION_INSERT_CODE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.INSTRUCTION_INSERT_CODE" title="¶”>¶</一个></dt><dd><p>程序调用的插入代码指令类型</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INSTRUCTION_START_THREAD"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INSTRUCTION_START_THREAD</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.INSTRUCTION_START_THREAD" title="¶”>¶</一个></dt><dd><p>开始一个程序调用的新进程指令类型</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INSTRUCTION_COMMENT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INSTRUCTION_COMMENT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.</span></em> <a class="headerlink" href="#robodk.robolink.INSTRUCTION_COMMENT" title="¶”>¶</一个></dt><dd><p>程序调用的插入注释指令类型</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.INSTRUCTION_SHOW_MESSAGE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">INSTRUCTION_SHOW_MESSAGE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.INSTRUCTION_SHOW_MESSAGE" title="¶”>¶</一个></dt><dd><p>显示程序调用的消息指令类型</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FEATURE_NONE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FEATURE_NONE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.FEATURE_NONE" title="¶”>¶</一个></dt><dd><p>无特征类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FEATURE_SURFACE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FEATURE_SURFACE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.FEATURE_SURFACE" title="¶”>¶</一个></dt><dd><p>表面(鼠标光标下)特征类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FEATURE_CURVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FEATURE_CURVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.FEATURE_CURVE" title="¶”>¶</一个></dt><dd><p>曲线特征类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FEATURE_POINT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FEATURE_POINT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.</span></em> <a class="headerlink" href="#robodk.robolink.FEATURE_POINT" title="¶”>¶</一个></dt><dd><p>点特征类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FEATURE_OBJECT_MESH"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FEATURE_OBJECT_MESH</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">7</span></em> <a class="headerlink" href="#robodk.robolink.FEATURE_OBJECT_MESH" title="¶”>¶</一个></dt><dd><p>对象网格(使用ID)特征类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FEATURE_SURFACE_PREVIEW"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FEATURE_SURFACE_PREVIEW</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">8</span></em> <a class="headerlink" href="#robodk.robolink.FEATURE_SURFACE_PREVIEW" title="¶”>¶</一个></dt><dd><p>表面预览特性类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FEATURE_MESH"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FEATURE_MESH</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">9</span></em> <a class="headerlink" href="#robodk.robolink.FEATURE_MESH" title="¶”>¶</一个></dt><dd><p>网格(鼠标光标下)特性标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FEATURE_HOVER_OBJECT_MESH"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FEATURE_HOVER_OBJECT_MESH</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">10</span></em> <a class="headerlink" href="#robodk.robolink.FEATURE_HOVER_OBJECT_MESH" title="¶”>¶</一个></dt><dd><p>对象网格(鼠标光标下)特征类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FEATURE_HOVER_OBJECT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FEATURE_HOVER_OBJECT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">11</span></em> <a class="headerlink" href="#robodk.robolink.FEATURE_HOVER_OBJECT" title="¶”>¶</一个></dt><dd><p>对象特性(鼠标光标下)特性类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.SPRAY_OFF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">SPRAY_OFF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.SPRAY_OFF" title="¶”>¶</一个></dt><dd><p>喷射关闭标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.SPRAY_ON"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">SPRAY_ON</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.SPRAY_ON" title="¶”>¶</一个></dt><dd><p>喷涂标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.COLLISION_OFF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">COLLISION_OFF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.COLLISION_OFF" title="¶”>¶</一个></dt><dd><p>碰撞关闭标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.COLLISION_ON"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">COLLISION_ON</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.COLLISION_ON" title="¶”>¶</一个></dt><dd><p>碰撞标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_TREE_ACTIVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_TREE_ACTIVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_TREE_ACTIVE" title="¶”>¶</一个></dt><dd><p>RoboDK树活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_3DVIEW_ACTIVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_3DVIEW_ACTIVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_3DVIEW_ACTIVE" title="¶”>¶</一个></dt><dd><p>RoboDK 3D视图(3D鼠标导航)活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_LEFT_CLICK"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_LEFT_CLICK</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_LEFT_CLICK" title="¶”>¶</一个></dt><dd><p>RoboDK左键点击活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_RIGHT_CLICK"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_RIGHT_CLICK</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">8</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_RIGHT_CLICK" title="¶”>¶</一个></dt><dd><p>RoboDK右击活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_DOUBLE_CLICK"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_DOUBLE_CLICK</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">16</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_DOUBLE_CLICK" title="¶”>¶</一个></dt><dd><p>RoboDK双击活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_MENU_ACTIVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_MENU_ACTIVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">32</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_MENU_ACTIVE" title="¶”>¶</一个></dt><dd><p>RoboDK主菜单(完整菜单)活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_MENUFILE_ACTIVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_MENUFILE_ACTIVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">64</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_MENUFILE_ACTIVE" title="¶”>¶</一个></dt><dd><p>RoboDK文件菜单活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_MENUEDIT_ACTIVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_MENUEDIT_ACTIVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">128</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_MENUEDIT_ACTIVE" title="¶”>¶</一个></dt><dd><p>RoboDK编辑菜单活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_MENUPROGRAM_ACTIVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_MENUPROGRAM_ACTIVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">256</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_MENUPROGRAM_ACTIVE" title="¶”>¶</一个></dt><dd><p>RoboDK程序菜单活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_MENUTOOLS_ACTIVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_MENUTOOLS_ACTIVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">512</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_MENUTOOLS_ACTIVE" title="¶”>¶</一个></dt><dd><p>RoboDK工具菜单活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_MENUUTILITIES_ACTIVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_MENUUTILITIES_ACTIVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1024</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_MENUUTILITIES_ACTIVE" title="¶”>¶</一个></dt><dd><p>RoboDK实用程序菜单活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_MENUCONNECT_ACTIVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_MENUCONNECT_ACTIVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2048</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_MENUCONNECT_ACTIVE" title="¶”>¶</一个></dt><dd><p>RoboDK Connect菜单活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_WINDOWKEYS_ACTIVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_WINDOWKEYS_ACTIVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4096</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_WINDOWKEYS_ACTIVE" title="¶”>¶</一个></dt><dd><p>RoboDK击键活动标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_TREE_VISIBLE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_TREE_VISIBLE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">8192</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_TREE_VISIBLE" title="¶”>¶</一个></dt><dd><p>RoboDK树可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_REFERENCES_VISIBLE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_REFERENCES_VISIBLE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">16384</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_REFERENCES_VISIBLE" title="¶”>¶</一个></dt><dd><p>RoboDK参考帧可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_STATUSBAR_VISIBLE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_STATUSBAR_VISIBLE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">32768</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_STATUSBAR_VISIBLE" title="¶”>¶</一个></dt><dd><p>RoboDK状态栏可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_NONE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_NONE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_NONE" title="¶”>¶</一个></dt><dd><p>RoboDK禁用所有标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_ALL"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_ALL</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">65535</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_ALL" title="¶”>¶</一个></dt><dd><p>RoboDK启用所有标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ROBODK_MENU_ACTIVE_ALL"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ROBODK_MENU_ACTIVE_ALL</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4064</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ROBODK_MENU_ACTIVE_ALL" title="¶”>¶</一个></dt><dd><p>RoboDK启用菜单唯一标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ITEM_SELECTABLE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ITEM_SELECTABLE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ITEM_SELECTABLE" title="¶”>¶</一个></dt><dd><p>允许选择项目标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ITEM_EDITABLE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ITEM_EDITABLE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ITEM_EDITABLE" title="¶”>¶</一个></dt><dd><p>允许编辑项目标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ITEM_DRAGALLOWED"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ITEM_DRAGALLOWED</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ITEM_DRAGALLOWED" title="¶”>¶</一个></dt><dd><p>允许拖动项目标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ITEM_DROPALLOWED"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ITEM_DROPALLOWED</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">8</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ITEM_DROPALLOWED" title="¶”>¶</一个></dt><dd><p>允许删除嵌套项标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ITEM_ENABLED"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ITEM_ENABLED</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">32</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ITEM_ENABLED" title="¶”>¶</一个></dt><dd><p>在树标志中启用此项</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ITEM_NONE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ITEM_NONE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ITEM_NONE" title="¶”>¶</一个></dt><dd><p>禁用所有项目标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.FLAG_ITEM_ALL"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">FLAG_ITEM_ALL</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">111</span></em> <a class="headerlink" href="#robodk.robolink.FLAG_ITEM_ALL" title="¶”>¶</一个></dt><dd><p>启用所有项目标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_1R"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_1R</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_1R" title="¶”>¶</一个></dt><dd><p>1R模型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_2R"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_2R</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_2R" title="¶”>¶</一个></dt><dd><p>2R模型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_3R"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_3R</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_3R" title="¶”>¶</一个></dt><dd><p>3R模型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_1T"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_1T</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_1T" title="¶”>¶</一个></dt><dd><p>1T型号类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_2T"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_2T</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">5</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_2T" title="¶”>¶</一个></dt><dd><p>2T型号类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_3T"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_3T</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">6</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_3T" title="¶”>¶</一个></dt><dd><p>3T模型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_6DOF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_6DOF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">7</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_6DOF" title="¶”>¶</一个></dt><dd><p>6自由度机器人模型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_7DOF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_7DOF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">8</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_7DOF" title="¶”>¶</一个></dt><dd><p>7自由度机器人模型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_SCARA"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_SCARA</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">9</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_SCARA" title="¶”>¶</一个></dt><dd><p>SCARA机器人模型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_GRIPPER"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_GRIPPER</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">10</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_GRIPPER" title="¶”>¶</一个></dt><dd><p>夹持器模型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_6COBOT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_6COBOT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">11</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_6COBOT" title="¶”>¶</一个></dt><dd><p>6自由度合作机器人模型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_1T1R"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_1T1R</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">12</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_1T1R" title="¶”>¶</一个></dt><dd><p>1T1R模型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_5XCNC"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_5XCNC</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">13</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_5XCNC" title="¶”>¶</一个></dt><dd><p>5轴数控机型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_3T1R"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_3T1R</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">15</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_3T1R" title="¶”>¶</一个></dt><dd><p>3T1R模型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.MAKE_ROBOT_GENERIC"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">MAKE_ROBOT_GENERIC</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">16</span></em> <a class="headerlink" href="#robodk.robolink.MAKE_ROBOT_GENERIC" title="¶”>¶</一个></dt><dd><p>通用模型类型标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ERROR_KINEMATIC"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ERROR_KINEMATIC</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.ERROR_KINEMATIC" title="¶”>¶</一个></dt><dd><p>一个或多个点是不可达路径错误标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ERROR_PATH_LIMIT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ERROR_PATH_LIMIT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.ERROR_PATH_LIMIT" title="¶”>¶</一个></dt><dd><p>路径达到关节轴路径误差标志的限制</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ERROR_PATH_SINGULARITY"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ERROR_PATH_SINGULARITY</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.ERROR_PATH_SINGULARITY" title="¶”>¶</一个></dt><dd><p>机器人到达一个奇异点路径误差标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ERROR_PATH_NEARSINGULARITY"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ERROR_PATH_NEARSINGULARITY</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">8</span></em> <a class="headerlink" href="#robodk.robolink.ERROR_PATH_NEARSINGULARITY" title="¶”>¶</一个></dt><dd><p>机器人离奇点路径误差标志太近</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.ERROR_COLLISION"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ERROR_COLLISION</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">32</span></em> <a class="headerlink" href="#robodk.robolink.ERROR_COLLISION" title="¶”>¶</一个></dt><dd><p>碰撞检测到路径错误标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.SELECT_RESET"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">SELECT_RESET</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">－1</span></em> <a class="headerlink" href="#robodk.robolink.SELECT_RESET" title="¶”>¶</一个></dt><dd><p>重置选择标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.SELECT_NONE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">SELECT_NONE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.SELECT_NONE" title="¶”>¶</一个></dt><dd><p>重置选择标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.SELECT_RECTANGLE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">SELECT_RECTANGLE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.SELECT_RECTANGLE" title="¶”>¶</一个></dt><dd><p>矩形选择标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.SELECT_ROTATE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">SELECT_ROTATE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.SELECT_ROTATE" title="¶”>¶</一个></dt><dd><p>旋转选择标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.SELECT_ZOOM"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">SELECT_ZOOM</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.</span></em> <a class="headerlink" href="#robodk.robolink.SELECT_ZOOM" title="¶”>¶</一个></dt><dd><p>缩放选择标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.SELECT_PAN"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">SELECT_PAN</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.SELECT_PAN" title="¶”>¶</一个></dt><dd><p>盘选择标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.SELECT_MOVE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">SELECT_MOVE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">5</span></em> <a class="headerlink" href="#robodk.robolink.SELECT_MOVE" title="¶”>¶</一个></dt><dd><p>移动选择标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.SELECT_MOVE_SHIFT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">SELECT_MOVE_SHIFT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">6</span></em> <a class="headerlink" href="#robodk.robolink.SELECT_MOVE_SHIFT" title="¶”>¶</一个></dt><dd><p>Shift选择标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.SELECT_MOVE_CLEAR"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">SELECT_MOVE_CLEAR</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">7</span></em> <a class="headerlink" href="#robodk.robolink.SELECT_MOVE_CLEAR" title="¶”>¶</一个></dt><dd><p>清除选择标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.DISPLAY_REF_DEFAULT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">DISPLAY_REF_DEFAULT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">－1</span></em> <a class="headerlink" href="#robodk.robolink.DISPLAY_REF_DEFAULT" title="¶”>¶</一个></dt><dd><p>默认参考帧可见性标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.DISPLAY_REF_NONE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">DISPLAY_REF_NONE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.DISPLAY_REF_NONE" title="¶”>¶</一个></dt><dd><p>无参考系可见性标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.DISPLAY_REF_TX"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">DISPLAY_REF_TX</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.DISPLAY_REF_TX" title="¶”>¶</一个></dt><dd><p>TX参考帧可见性标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.DISPLAY_REF_TY"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">DISPLAY_REF_TY</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.DISPLAY_REF_TY" title="¶”>¶</一个></dt><dd><p>TY参考系可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.DISPLAY_REF_TZ"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">DISPLAY_REF_TZ</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.DISPLAY_REF_TZ" title="¶”>¶</一个></dt><dd><p>TZ参考系可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.DISPLAY_REF_RX"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">DISPLAY_REF_RX</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">8</span></em> <a class="headerlink" href="#robodk.robolink.DISPLAY_REF_RX" title="¶”>¶</一个></dt><dd><p>RX参考系可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.DISPLAY_REF_RY"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">DISPLAY_REF_RY</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">16</span></em> <a class="headerlink" href="#robodk.robolink.DISPLAY_REF_RY" title="¶”>¶</一个></dt><dd><p>RY参考系可见性标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.DISPLAY_REF_RZ"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">DISPLAY_REF_RZ</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">32</span></em> <a class="headerlink" href="#robodk.robolink.DISPLAY_REF_RZ" title="¶”>¶</一个></dt><dd><p>RZ参考系可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.DISPLAY_REF_PXY"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">DISPLAY_REF_PXY</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">64</span></em> <a class="headerlink" href="#robodk.robolink.DISPLAY_REF_PXY" title="¶”>¶</一个></dt><dd><p>平面XY参考系可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.DISPLAY_REF_PXZ"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">DISPLAY_REF_PXZ</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">128</span></em> <a class="headerlink" href="#robodk.robolink.DISPLAY_REF_PXZ" title="¶”>¶</一个></dt><dd><p>平面XZ参考系可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.DISPLAY_REF_PYZ"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">DISPLAY_REF_PYZ</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">256</span></em> <a class="headerlink" href="#robodk.robolink.DISPLAY_REF_PYZ" title="¶”>¶</一个></dt><dd><p>平面YZ参考系能见度标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_REFERENCE_DEFAULT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_REFERENCE_DEFAULT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">－1</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_REFERENCE_DEFAULT" title="¶”>¶</一个></dt><dd><p>默认项目可见性标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_REFERENCE_ON"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_REFERENCE_ON</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_REFERENCE_ON" title="¶”>¶</一个></dt><dd><p>Visible (ON)项目可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_REFERENCE_OFF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_REFERENCE_OFF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_REFERENCE_OFF" title="¶”>¶</一个></dt><dd><p>隐藏(OFF)项目可见性标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_NONE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_NONE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">0</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_NONE" title="¶”>¶</一个></dt><dd><p>机器人可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_FLANGE"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_FLANGE</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_FLANGE" title="¶”>¶</一个></dt><dd><p>法兰机器人能见度标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_Base_3D"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_Base_3D</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_Base_3D" title="¶”>¶</一个></dt><dd><p>轴基础3D机器人可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_Base_REF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_Base_REF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_Base_REF" title="¶”>¶</一个></dt><dd><p>轴基础参考机器人可见性标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_1_3D"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_1_3D</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">8</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_1_3D" title="¶”>¶</一个></dt><dd><p>轴1 3D机器人可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_1_REF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_1_REF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">16</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_1_REF" title="¶”>¶</一个></dt><dd><p>轴1参考机器人可见性标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_2_3D"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_2_3D</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">32</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_2_3D" title="¶”>¶</一个></dt><dd><p>轴2 3D机器人可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_2_REF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_2_REF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">64</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_2_REF" title="¶”>¶</一个></dt><dd><p>轴2参考机器人能见度标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_3_3D"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_3_3D</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">128</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_3_3D" title="¶”>¶</一个></dt><dd><p>轴3 3D机器人可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_3_REF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_3_REF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">256</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_3_REF" title="¶”>¶</一个></dt><dd><p>轴3参考机器人能见度标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_4_3D"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_4_3D</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">512</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_4_3D" title="¶”>¶</一个></dt><dd><p>轴4 3D机器人可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_4_REF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_4_REF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">1024</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_4_REF" title="¶”>¶</一个></dt><dd><p>轴4参考机器人能见度标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_5_3D"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_5_3D</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2048</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_5_3D" title="¶”>¶</一个></dt><dd><p>轴5 3D机器人可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_5_REF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_5_REF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">4096</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_5_REF" title="¶”>¶</一个></dt><dd><p>轴5参考机器人能见度标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_6_3D"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_6_3D</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">8192</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_6_3D" title="¶”>¶</一个></dt><dd><p>轴6 3D机器人可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_6_REF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_6_REF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">16384</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_6_REF" title="¶”>¶</一个></dt><dd><p>轴6参考机器人能见度标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_7_3D"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_7_3D</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">32768</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_7_3D" title="¶”>¶</一个></dt><dd><p>轴7 3D机器人可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_AXIS_7_REF"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_AXIS_7_REF</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">131072</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_AXIS_7_REF" title="¶”>¶</一个></dt><dd><p>轴7参考机器人能见度标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_DEFAULT"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_DEFAULT</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">715827883</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_DEFAULT" title="¶”>¶</一个></dt><dd><p>默认机器人可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_ALL"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_ALL</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">2147483647</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_ALL" title="¶”>¶</一个></dt><dd><p>所有机器人可见标志</p></dd></dl> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robolink.VISIBLE_ROBOT_ALL_REFS"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">VISIBLE_ROBOT_ALL_REFS</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">357913941</span></em> <a class="headerlink" href="#robodk.robolink.VISIBLE_ROBOT_ALL_REFS" title="¶”>¶</一个></dt><dd><p>所有参考机器人可见标志</p></dd></dl> <dl class="py class"> <dt class="sig sig-object py" id="robodk.robolink.InstructionListJointsFlags"> <em class="property"><span class="pre">类</span><span class="w"></span></em> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">InstructionListJointsFlags</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">价值</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.InstructionListJointsFlags" title="¶”>¶</一个></dt><dd><p>instructionlistjoint输出标志</p></dd></dl> <dl class="py class"> <dt class="sig sig-object py" id="robodk.robolink.PathErrorFlags"> <em class="property"><span class="pre">类</span><span class="w"></span></em> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">PathErrorFlags</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">价值</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.PathErrorFlags" title="¶”>¶</一个></dt><dd><p>由instructionlistjoint返回的错误标志</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robolink.ConvertErrorCodeToJointErrorType"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">ConvertErrorCodeToJointErrorType</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">安勤科技</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.ConvertErrorCodeToJointErrorType" title="¶”>¶</一个></dt><dd><p>将由instructionlistjoint()返回的错误数转换为PathErrorFlags</p></dd></dl> <dl class="py exception"> <dt class="sig sig-object py" id="robodk.robolink.TargetReachError"> <em class="property"><span class="pre">异常</span><span class="w"></span></em> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">TargetReachError</span></span> <a class="headerlink" href="#robodk.robolink.TargetReachError" title="¶”>¶</一个></dt><dd><p>无法到达预期目标或目的地错误。</p></dd></dl> <dl class="py exception"> <dt class="sig sig-object py" id="robodk.robolink.StoppedError"> <em class="property"><span class="pre">异常</span><span class="w"></span></em> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">StoppedError</span></span> <a class="headerlink" href="#robodk.robolink.StoppedError" title="¶”>¶</一个></dt><dd><p>用户通过选择退出键或移动机器人停止操作</p></dd></dl> <dl class="py exception"> <dt class="sig sig-object py" id="robodk.robolink.InputError"> <em class="property"><span class="pre">异常</span><span class="w"></span></em> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">InputError</span></span> <a class="headerlink" href="#robodk.robolink.InputError" title="¶”>¶</一个></dt><dd><p>提供给API的输入参数无效。提供文档中规定的输入。</p></dd></dl> <dl class="py exception"> <dt class="sig sig-object py" id="robodk.robolink.LicenseError"> <em class="property"><span class="pre">异常</span><span class="w"></span></em> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">LicenseError</span></span> <a class="headerlink" href="#robodk.robolink.LicenseError" title="¶”>¶</一个></dt><dd><p>使用所请求特性的RoboDK许可证无效。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robolink.RoboDKInstallFound"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">RoboDKInstallFound</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.RoboDKInstallFound" title="¶”>¶</一个></dt><dd><p>检查是否安装RoboDK</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robolink.getPathRoboDK"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">getPathRoboDK</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.getPathRoboDK" title="¶”>¶</一个></dt><dd><p>RoboDK的可执行/二进制文件</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robolink.import_install"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">import_install</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">module_name</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">pip_name</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">rdk</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.import_install" title="¶”>¶</一个></dt><dd><p>如果相应的包不可用，则通过先安装模块导入模块。如果模块名称与pip install命令不匹配，则为安装目的提供pip_name。可选地，您可以传递RoboDK API Robolink对象，在RoboDK的状态栏中查看安装进度。</p><d我v类＝”literal-block-wrapper docutils container" id="id1"> <div class="code-block-caption"> <span class="caption-text">嵌入一个停靠RoboDK窗口的示例</span> <a class="headerlink" href="#id1" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#如果你想为Python和pyserial安装opencv，你应该使用:</span><span class="n">import_install</span><span class="p">（</span><span class="s2">“opencv”</span><span class="p">，</span><span class="s2">“opencv-python”</span><span class="p">，</span><span class="n">RDK</span><span class="p">）</span><span class="n">import_install</span><span class="p">（</span><span class="s2">“串行”</span><span class="p">，</span><span class="s2">“pyserial”</span><span class="p">，</span><span class="n">RDK</span><span class="p">）</span><span class="c1">如果模块的名称与包匹配，您可以直接传递模块的名称。</span><span class="c1">#的例子:</span><span class="n">import_install</span><span class="p">（</span><span class="s2">“xlrd”</span><span class="p">，</span><span class="n">rdk</span><span class="o">＝</span><span class="n">RDK</span><span class="p">）</span></pre> </div> </div> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robolink.EmbedWindow"> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">EmbedWindow</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">window_name</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">docked_name</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">size_w</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">size_h</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">pid</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">area_add</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">area_allowed</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">15</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">超时</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">500</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">港口</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">arg游戏</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">［］</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.EmbedWindow" title="¶”>¶</一个></dt><dd><p>在RoboDK中嵌入一个来自单独进程的窗口作为停靠窗口。如果成功返回True。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>window_name</strong>（<em>str</em>) -当前打开的窗口名称。确保窗口名称是唯一的，并且它是一个顶级窗口</p></li> <li><p><strong>docked_name</strong>（<em>str</em>RoboDK中停靠选项卡的名称(可选，如果与窗口名称不同)</p></li> <li><p><strong>pid</strong>（<em>int</em>-进程ID(可选)</p></li> <li><p><strong>area_add</strong>（<em>int</em>) -设置为1(右)或2(左)(默认为1)</p></li> <li><p><strong>area_allowed</strong>（<em>int</em>) -允许的区域(默认为15:没有限制)</p></li> <li><p><strong>超时</strong>（<em>int</em>) -中止尝试嵌入窗口的超时</p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="id2"> <div class="code-block-caption"> <span class="caption-text">嵌入一个停靠RoboDK窗口的示例</span> <a class="headerlink" href="#id2" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">tkinter</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">进口</span><span class="nn">线程</span><span class="c1">#创建一个新窗口</span><span class="n">窗口</span><span class="o">＝</span><span class="n">tkinter</span><span class="o">．</span><span class="n">Tk</span><span class="p">（）</span><span class="c1">#关闭窗口</span><span class="k">def</span><span class="nf">onClose</span><span class="p">():</span><span class="n">窗口</span><span class="o">．</span><span class="n">摧毁</span><span class="p">（）</span><span class="n">辞职</span><span class="p">（</span><span class="mi">0</span><span class="p">）</span><span class="c1">#触发选择按钮</span><span class="c1">#重要:我们需要在单独的线程上运行操作，因为</span><span class="c1">#(否则，如果我们想与RoboDK窗口交互，它会冻结)</span><span class="k">def</span><span class="nf">on_btnSelect</span><span class="p">():</span><span class="k">def</span><span class="nf">thread_btnSelect</span><span class="p">():</span><span class="c1">#运行按钮动作(例如选择一个项目并显示其名称)</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">项</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择一个项目”</span><span class="p">）</span><span class="k">如果</span><span class="n">项</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">“你选择了这个项目:”</span><span class="o">+</span><span class="n">项</span><span class="o">．</span><span class="n">的名字</span><span class="p">（））</span><span class="n">线程</span><span class="o">．</span><span class="n">线程</span><span class="p">（</span><span class="n">目标</span><span class="o">＝</span><span class="n">thread_btnSelect</span><span class="p">）</span><span class="o">．</span><span class="n">开始</span><span class="p">（）</span><span class="c1">#设置窗口标题(必须是唯一的对接工作，尽量有创意!)</span><span class="n">window_title</span><span class="o">＝</span><span class="s1">“RoboDK API停靠窗口”</span><span class="n">窗口</span><span class="o">．</span><span class="n">标题</span><span class="p">（</span><span class="n">window_title</span><span class="p">）</span><span class="c1">当我们关闭窗口时删除它</span><span class="n">窗口</span><span class="o">．</span><span class="n">协议</span><span class="p">（</span><span class="s2">“WM_DELETE_WINDOW”</span><span class="p">，</span><span class="n">onClose</span><span class="p">）</span><span class="c1">#添加一个按钮(选择动作)</span><span class="n">btnSelect</span><span class="o">＝</span><span class="n">按钮</span><span class="p">（</span><span class="n">窗口</span><span class="p">，</span><span class="n">文本</span><span class="o">＝</span><span class="s1">“触发on_btnSelect”</span><span class="p">，</span><span class="n">高度</span><span class="o">＝</span><span class="mi">5</span><span class="p">，</span><span class="n">宽度</span><span class="o">＝</span><span class="mi">60</span><span class="p">，</span><span class="n">命令</span><span class="o">＝</span><span class="n">on_btnSelect</span><span class="p">）</span><span class="n">btnSelect</span><span class="o">．</span><span class="n">包</span><span class="p">（</span><span class="n">填满</span><span class="o">＝</span><span class="n">X</span><span class="p">）</span><span class="c1">#嵌入窗口</span><span class="n">EmbedWindow</span><span class="p">（</span><span class="n">window_title</span><span class="p">）</span><span class="c1">#运行window事件循环。这就像一个应用程序，将阻塞，直到我们关闭窗口</span><span class="n">窗口</span><span class="o">．</span><span class="n">mainloop</span><span class="p">（）</span></pre> </div> </div> </div> </dd> </dl> <dl class="py class"> <dt class="sig sig-object py" id="robodk.robolink.Robolink"> <em class="property"><span class="pre">类</span><span class="w"></span></em> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">Robolink</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">robodk_ip</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“localhost”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">港口</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">arg游戏</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">［］</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">robodk_path</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">close_std_out</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">quit_on_close</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink" title="¶”>¶</一个></dt><dd><p>Robolink类是RoboDK的链接，允许为RoboDK创建宏，模拟应用程序和离线生成程序。任何交互都是通过“items”(Item()对象)进行的。一个项目是robodk树中的一个对象(它可以是一个机器人、一个对象、一个工具、一个框架、一个程序……)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>robodk_ip</strong>（<em>str</em>) - RoboDK API服务器的IP地址(默认= ' localhost ')</p></li> <li><p><strong>港口</strong>（<em>int</em>- RoboDK API服务器端口(default=None，使用默认值)</p></li> <li><p><strong>arg游戏</strong>（<em>列表</em>) - - -</p><p>在启动时传递给RoboDK的命令行参数(例如:' /NOSPLASH /NOSHOW '应该作为args=[' /NOSPLASH '， ' /NOSHOW ']传递，以不显示RoboDK)。如果RoboDK已经在运行，参数将不起作用。</p><p>欲了解更多信息:<一个类＝”reference external" href="//www.sinclairbody.com/doc/en/RoboDK-API.html">RoboDK启动时的参数列表</一个>．</p><p></p></li> <li><p><strong>robodk_path</strong>（<em>str</em>)—RoboDK安装路径。默认为RoboDK的默认路径(Windows下的C:/RoboDK/bin/RoboDK.exe或/Applications/RoboDK. exe)。app/Contents/MacOS/RoboDK on Mac)</p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="id3"> <div class="code-block-caption"> <span class="caption-text">RoboDK API初始化的例子</span> <a class="headerlink" href="#id3" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#连接到RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">检索所有物品并打印它们的名称</span><span class="n">list_items</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemList</span><span class="p">（）</span><span class="k">为</span><span class="n">项</span><span class="ow">在</span><span class="n">list_items</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="n">项</span><span class="o">．</span><span class="n">的名字</span><span class="p">（））</span></pre> </div> </div> </div> <div class="literal-block-wrapper docutils container" id="id4"> <div class="code-block-caption"> <span class="caption-text">强制启动一个新的RoboDK隐藏实例并输出调试信息</span> <a class="headerlink" href="#id4" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#连接到RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（</span><span class="n">arg游戏</span><span class="o">＝</span><span class="p">［</span><span class="s2">“newinstance”</span><span class="p">，</span><span class="s2">“-NOUI”</span><span class="p">，</span><span class="s2">“-SKIPINI”</span><span class="p">，</span><span class="s2">“-EXIT_LAST_COM”</span><span class="p">])</span><span class="c1">#添加一个参考系</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFrame</span><span class="p">（</span><span class="s2">“我的参考系”</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">transl</span><span class="p">（</span><span class="mi">One hundred.</span><span class="p">，</span><span class="mi">200</span><span class="p">，</span><span class="mi">300</span><span class="p">）</span><span class="o">＊</span><span class="n">rotz</span><span class="p">（</span><span class="n">π</span><span class="o">/</span><span class="mi">2</span><span class="p">）)</span><span class="c1">#检索所有项目并打印它们的名称(只是一个参考框架)</span><span class="n">list_items</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemList</span><span class="p">（）</span><span class="k">为</span><span class="n">项</span><span class="ow">在</span><span class="n">list_items</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="n">项</span><span class="o">．</span><span class="n">的名字</span><span class="p">（））</span><span class="c1">#关闭RoboDK</span><span class="n">RDK</span><span class="o">．</span><span class="n">CloseRoboDK</span><span class="p">（）</span><span class="c1">命令行参数示例:</span><span class="c1"># -NEWINSTANCE:强制使用新实例</span><span class="c1"># -NOUI:在幕后运行RoboDK(没有OpenGL上下文)</span><span class="c1"># -SKIPINI:跳过使用RoboDK的INI设置(全局设置)，这提供了一个更快的启动</span><span class="c1"># -EXIT_LAST_COM:当连接的最后一个API客户端关闭时退出RoboDK</span><span class="c1"># -DEBUG:以调试模式运行(在控制台中输出信息)</span><span class="c1">＃</span><span class="c1">#按照以下步骤查看命令行参数的扩展列表:</span><span class="c1"># 1-选择工具-运行脚本</span><span class="c1"># 2-选择ShowCommands</span><span class="c1">＃</span><span class="c1">更多信息:</span><span class="c1"># //www.sinclairbody.com/doc/en/RoboDK-API.html命令行</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Item" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">项目()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Name" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">名称()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.CloseRoboDK" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">CloseRoboDK ()</span></code></a></p> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddFile" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFile ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFrame ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a></p> </div> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.MoveC"> <span class="sig-name descname"><span class="pre">MoveC</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">target1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">target2</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">itemrobot</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">阻塞</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.MoveC" title="¶”>¶</一个></dt><dd><p>执行圆周运动。使用机器人。MoveC代替。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Disconnect"> <span class="sig-name descname"><span class="pre">断开连接</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Disconnect" title="¶”>¶</一个></dt><dd><p>停止与RoboDK的通信。如果setRunMode为脱机编程设置为RUNMODE_MAKE_ROBOTPROG，则将生成任何挂起2022世界杯8强赛时间的程序。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Finish"> <span class="sig-name descname"><span class="pre">完成</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Finish" title="¶”>¶</一个></dt><dd><p>停止与RoboDK的通信。如果setRunMode为脱机编程设置为RUNMODE_MAKE_ROBOTPROG，则将生成任何挂起2022世界杯8强赛时间的程序。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setRunMode" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setRunMode ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.ProgramStart" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ProgramStart ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.NewLink"> <span class="sig-name descname"><span class="pre">NewLink</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.NewLink" title="¶”>¶</一个></dt><dd><p>使用不同的通信链路重新连接API。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Connect"> <span class="sig-name descname"><span class="pre">连接</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Connect" title="¶”>¶</一个></dt><dd><p>与RoboDK建立连接。如果RoboDK没有运行，它将尝试从默认安装路径启动RoboDK(否则必须正确设置APPLICATION_DIR)。如果连接成功，则返回1，否则返回0</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Item"> <span class="sig-name descname"><span class="pre">项</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">的名字</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">itemtype</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Item" title="¶”>¶</一个></dt><dd><p>按名称返回一个项目。如果没有精确匹配，它将返回最后一个最接近的匹配。使用itemtype指定要查找的项目类型。如果两个项目具有相同的名称但不同的类型，这是有用的。(检查变量ITEM_TYPE_*)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>的名字</strong>（<em>str</em>) -物品名称(在RoboDK站树中显示的物品名称)</p></li> <li><p><strong>itemtype</strong>（<em>int</em>) -要检索的项的类型(如果有相似的名称匹配，则避免混淆)。使用ITEM_TYPE_ *。</p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="id5"> <div class="code-block-caption"> <span class="caption-text">可选项目类型</span> <a class="headerlink" href="#id5" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">ITEM_TYPE_STATION</span><span class="o">＝</span><span class="mi">1</span><span class="c1">#站点项目(。rdk文件)</span><span class="n">ITEM_TYPE_ROBOT</span><span class="o">＝</span><span class="mi">2</span><span class="c1">#机器人项目(。机器人文件)</span><span class="n">ITEM_TYPE_FRAME</span><span class="o">＝</span><span class="mi">3.</span><span class="c1">#参考框项目</span><span class="n">ITEM_TYPE_TOOL</span><span class="o">＝</span><span class="mi">4</span><span class="c1">#工具项目(。工具文件s or tools without geometry)</span><span class="n">ITEM_TYPE_OBJECT</span><span class="o">＝</span><span class="mi">5</span><span class="c1">#对象项目(。Stl, step, iges，…)</span><span class="n">ITEM_TYPE_TARGET</span><span class="o">＝</span><span class="mi">6</span><span class="c1">#目标物品</span><span class="n">ITEM_TYPE_PROGRAM</span><span class="o">＝</span><span class="mi">8</span><span class="c1">#程序项(使用GUI制作)</span><span class="n">ITEM_TYPE_PROGRAM_PYTHON</span><span class="o">＝</span><span class="mi">10</span><span class="c1"># Python程序或宏</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.ItemList" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ItemList ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.ItemUserPick" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ItemUserPick ()</span></code></a></p> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Name" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">名称()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">造成()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setParent" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParent ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setJoints ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveJ" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveJ ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveL" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveL ()</span></code></a></p> </div> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robolink库</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#连接到RoboDK API(如果RoboDK还没有启动，则启动它</span><span class="n">工具</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“工具”</span><span class="p">）</span><span class="c1">#检索一个名为tool的项目</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">#第一个可用的机器人</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.ItemList"> <span class="sig-name descname"><span class="pre">ItemList</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">过滤器</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">list_names</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.ItemList" title="¶”>¶</一个></dt><dd><p>返回RoboDK当前开放站中所有可用项目的项目列表(名称或指针列表)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>过滤器</strong>（<em>int</em>-(可选)根据特定的项目类型(ITEM_TYPE_*)筛选列表。例如:RDK。ItemList（过滤器＝ITEM_TYPE_ROBOT）</p></li> <li><p><strong>list_names</strong>（<em>int</em>) -(可选)设置为True返回一个名称列表，而不是一个名称列表<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Item" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">项目()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.ItemUserPick" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ItemUserPick ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.ItemUserPick"> <span class="sig-name descname"><span class="pre">ItemUserPick</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">消息</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“选</span><span class="pre">一个</span><span class="pre">项”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">itemtype_or_list</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.ItemUserPick" title="¶”>¶</一个></dt><dd><p>显示一个RoboDK弹出窗口，从打开的站中选择一个对象。可以指定项目类型来筛选所需的项目。如果未指定类型，则所有项都是可选的。(检查变量ITEM_TYPE_*)示例:</p><blockquote> <div> <div class="highlight-python notranslate"> <div class="highlight"> <pre><span></span></pre> </div> </div> <p>RDK。ItemUserPick("选择一个机器人"，ITEM_TYPE_ROBOT)</p></d我v></blockquote> <dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>消息</strong>（<em>str</em>) -要显示的消息</p></li> <li><p><strong>itemtype_or_list</strong>（<em>int</em>) -根据特定的项目类型(ITEM_TYPE_*)筛选选择，或提供一个项目列表供选择</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Item" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">项目()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.ItemList" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ItemList ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.ShowRoboDK"> <span class="sig-name descname"><span class="pre">ShowRoboDK</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.ShowRoboDK" title="¶”>¶</一个></dt><dd><p>显示或打开RoboDK窗口</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setWindowState" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setWindowState ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.HideRoboDK"> <span class="sig-name descname"><span class="pre">HideRoboDK</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.HideRoboDK" title="¶”>¶</一个></dt><dd><p>隐藏RoboDK窗口。RoboDK将继续作为进程运行</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setWindowState" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setWindowState ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.CloseRoboDK"> <span class="sig-name descname"><span class="pre">CloseRoboDK</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.CloseRoboDK" title="¶”>¶</一个></dt><dd><p>关闭RoboDK窗口，完成RoboDK的执行。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Version"> <span class="sig-name descname"><span class="pre">版本</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Version" title="¶”>¶</一个></dt><dd><p>以字符串形式返回RoboDK的版本</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setWindowState"> <span class="sig-name descname"><span class="pre">setWindowState</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">windowstate</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">2</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setWindowState" title="¶”>¶</一个></dt><dd><p>设置RoboDK窗口的状态</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>windowstate</strong>（<em>int</em>-窗口的状态(WINDOWSTATE_*)</p></dd></dl> <div class="literal-block-wrapper docutils container" id="id6"> <div class="code-block-caption"> <span class="caption-text">允许的窗口状态</span> <a class="headerlink" href="#id6" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">WINDOWSTATE_HIDDEN</span><span class="o">＝</span><span class="o">-</span><span class="mi">1</span><span class="c1">#隐藏</span><span class="n">WINDOWSTATE_SHOW</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#可见</span><span class="n">WINDOWSTATE_MINIMIZED</span><span class="o">＝</span><span class="mi">1</span><span class="c1">#最小化窗口</span><span class="n">WINDOWSTATE_NORMAL</span><span class="o">＝</span><span class="mi">2</span><span class="c1">#显示正常窗口(最后已知状态)</span><span class="n">WINDOWSTATE_MAXIMIZED</span><span class="o">＝</span><span class="mi">3.</span><span class="c1">#显示最大化窗口</span><span class="n">WINDOWSTATE_FULLSCREEN</span><span class="o">＝</span><span class="mi">4</span><span class="c1">#显示富屏窗口</span><span class="n">WINDOWSTATE_CINEMA</span><span class="o">＝</span><span class="mi">5</span><span class="c1">在没有工具栏和菜单的情况下显示最大化窗口</span><span class="n">WINDOWSTATE_FULLSCREEN_CINEMA</span><span class="o">＝</span><span class="mi">6</span><span class="c1">#显示富屏窗口，没有工具栏和菜单</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setFlagsRoboDK" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setFlagsRoboDK ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setFlagsRoboDK"> <span class="sig-name descname"><span class="pre">setFlagsRoboDK</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">旗帜</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">65535</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setFlagsRoboDK" title="¶”>¶</一个></dt><dd><p>更新RoboDK标志。RoboDK标志允许定义用户对RoboDK功能的访问权限。使用FLAG_ROBODK_*变量来设置一个或多个标志。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>旗帜</strong>（<em>int</em>) -窗口的状态(FLAG_ROBODK_*)</p></dd></dl> <div class="literal-block-wrapper docutils container" id="id7"> <div class="code-block-caption"> <span class="caption-text">允许RoboDK标记</span> <a class="headerlink" href="#id7" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">FLAG_ROBODK_TREE_ACTIVE</span><span class="o">＝</span><span class="mi">1</span><span class="c1">#启用树</span><span class="n">FLAG_ROBODK_3DVIEW_ACTIVE</span><span class="o">＝</span><span class="mi">2</span><span class="c1">#启用3D视图(3D鼠标导航)</span><span class="n">FLAG_ROBODK_LEFT_CLICK</span><span class="o">＝</span><span class="mi">4</span><span class="c1">#启用左键点击</span><span class="n">FLAG_ROBODK_RIGHT_CLICK</span><span class="o">＝</span><span class="mi">8</span><span class="c1">#启用右键</span><span class="n">FLAG_ROBODK_DOUBLE_CLICK</span><span class="o">＝</span><span class="mi">16</span><span class="c1">#启用双击</span><span class="n">FLAG_ROBODK_MENU_ACTIVE</span><span class="o">＝</span><span class="mi">32</span><span class="c1">#启用主菜单(完整菜单)</span><span class="n">FLAG_ROBODK_MENUFILE_ACTIVE</span><span class="o">＝</span><span class="mi">64</span><span class="c1">#启用文件菜单</span><span class="n">FLAG_ROBODK_MENUEDIT_ACTIVE</span><span class="o">＝</span><span class="mi">128</span><span class="c1">#启用编辑菜单</span><span class="n">FLAG_ROBODK_MENUPROGRAM_ACTIVE</span><span class="o">＝</span><span class="mi">256</span><span class="c1">#启用程序菜单</span><span class="n">FLAG_ROBODK_MENUTOOLS_ACTIVE</span><span class="o">＝</span><span class="mi">512</span><span class="c1">#启用工具菜单</span><span class="n">FLAG_ROBODK_MENUUTILITIES_ACTIVE</span><span class="o">＝</span><span class="mi">1024</span><span class="c1">#启用实用工具菜单</span><span class="n">FLAG_ROBODK_MENUCONNECT_ACTIVE</span><span class="o">＝</span><span class="mi">2048</span><span class="c1">#启用连接菜单</span><span class="n">FLAG_ROBODK_WINDOWKEYS_ACTIVE</span><span class="o">＝</span><span class="mi">4096</span><span class="c1">#打开键盘</span><span class="n">FLAG_ROBODK_TREE_VISIBLE</span><span class="o">＝</span><span class="mi">8192</span><span class="c1">#使站树可见</span><span class="n">FLAG_ROBODK_REFERENCES_VISIBLE</span><span class="o">＝</span><span class="mi">16384</span><span class="c1">#使参考帧可见</span><span class="n">FLAG_ROBODK_STATUSBAR_VISIBLE</span><span class="o">＝</span><span class="mi">32768</span><span class="c1">#使状态栏可见</span><span class="n">FLAG_ROBODK_NONE</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#禁用一切</span><span class="n">FLAG_ROBODK_ALL</span><span class="o">＝</span><span class="mh">0 xffff</span><span class="c1">#启用一切</span><span class="n">FLAG_ROBODK_MENU_ACTIVE_ALL</span><span class="c1">#只启用菜单</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setFlagsItem" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setFlagsItem ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.setWindowState" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setWindowState ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setFlagsItem"> <span class="sig-name descname"><span class="pre">setFlagsItem</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">项</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">旗帜</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">111</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setFlagsItem" title="¶”>¶</一个></dt><dd><p>更新项目标志。项标志允许定义用户对项特定特性的访问权限。使用FLAG_ITEM_* flags设置一个或多个标志。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>项</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -项目设置(设置为0应用于所有项目)</p></li> <li><p><strong>旗帜</strong>（<em>int</em>) -设置项目标志(FLAG_ITEM_*)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.getFlagsItem" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getFlagsItem ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.setFlagsRoboDK" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setFlagsRoboDK ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.setWindowState" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setWindowState ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.getFlagsItem"> <span class="sig-name descname"><span class="pre">getFlagsItem</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">项</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.getFlagsItem" title="¶”>¶</一个></dt><dd><p>检索当前项目标志。项标志允许定义用户对项特定特性的访问权限。使用FLAG_ITEM_* flags设置一个或多个标志。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>项</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -项目来获取标志</p></dd></dl> <div class="literal-block-wrapper docutils container" id="id8"> <div class="code-block-caption"> <span class="caption-text">允许RoboDK标记</span> <a class="headerlink" href="#id8" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">FLAG_ITEM_SELECTABLE</span><span class="o">＝</span><span class="mi">1</span><span class="c1">#允许选择项目</span><span class="n">FLAG_ITEM_EDITABLE</span><span class="o">＝</span><span class="mi">2</span><span class="c1">#允许编辑该项</span><span class="n">FLAG_ITEM_DRAGALLOWED</span><span class="o">＝</span><span class="mi">4</span><span class="c1">#允许拖动项目</span><span class="n">FLAG_ITEM_DROPALLOWED</span><span class="o">＝</span><span class="mi">8</span><span class="c1">#允许删除嵌套项</span><span class="n">FLAG_ITEM_ENABLED</span><span class="o">＝</span><span class="mi">32</span><span class="c1">#在树中启用此项</span><span class="n">FLAG_ITEM_NONE</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#禁用一切</span><span class="n">FLAG_ITEM_ALL</span><span class="o">＝</span><span class="mi">64</span><span class="o">+</span><span class="mi">32</span><span class="o">+</span><span class="mi">8</span><span class="o">+</span><span class="mi">4</span><span class="o">+</span><span class="mi">2</span><span class="o">+</span><span class="mi">1</span><span class="c1">#启用一切</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setFlagsItem" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setFlagsItem ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.setFlagsRoboDK" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setFlagsRoboDK ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.setWindowState" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setWindowState ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.ShowMessage"> <span class="sig-name descname"><span class="pre">ShowMessage</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">消息</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">弹出</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.ShowMessage" title="¶”>¶</一个></dt><dd><p>从RoboDK窗口显示一条消息。默认情况下，该消息将是一个阻塞弹出窗口。或者，它可以是RoboDK主窗口底部显示的一条消息。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>消息</strong>（<em>str</em>) -要显示的消息</p></li> <li><p><strong>弹出</strong>（<em>保龄球</em>-设置为False将在RoboDK的状态栏中显示消息(不阻塞)</p></li> </ul> </dd> </dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Copy"> <span class="sig-name descname"><span class="pre">复制</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">项</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">copy_childs</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Copy" title="¶”>¶</一个></dt><dd><p>复制一个项目(与Ctrl+C相同)，可以使用Paste()粘贴(Ctrl+V)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>项</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -复制到剪贴板的项目</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Paste" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">粘贴()</span></code></a>,项目。<一个类＝”reference internal" href="#robodk.robolink.Item.Copy" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">副本()</span></code></a></p> </div> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="nb">对象</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“我的对象”</span><span class="p">）</span><span class="nb">对象</span><span class="o">．</span><span class="n">复制</span><span class="p">（）</span><span class="c1">#与RDK.Copy(object)相同</span><span class="n">object_copy1</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">粘贴</span><span class="p">（）</span><span class="n">object_copy1</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="s1">My Object (copy 1)</span><span class="p">）</span><span class="n">object_copy2</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">粘贴</span><span class="p">（）</span><span class="n">object_copy2</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="s1">“我的对象(副本2)”</span><span class="p">）</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Paste"> <span class="sig-name descname"><span class="pre">粘贴</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">paste_to</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">paste_times</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Paste" title="¶”>¶</一个></dt><dd><p>将复制的项粘贴为另一项的依赖项(与Ctrl+V相同)。粘贴应该在Copy()之后使用。它返回新创建的项。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>paste_to</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -附加复制项的项(可选)</p></li> <li><p><strong>paste_times</strong>（<em>int</em>) -粘贴项目的次数(如果大于1则返回列表)</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>创建新项目</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p><a class="reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Copy" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">副本()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.AddFile"> <span class="sig-name descname"><span class="pre">AddFile</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">文件名</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">父</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.AddFile" title="¶”>¶</一个></dt><dd><p>加载一个文件并将其附加到父文件(如果提供)。调用返回新添加的数据<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>．如果新文件是一个对象，并且附加到机器人上，它将自动转换为工具。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>文件名</strong>（<em>str</em>) -任何文件加载，RoboDK支持。支持的格式包括STL, STEP, IGES, ROBOT, TOOL, RDK，…也可以加载支持的机器人程序，如SRC (KUKA)， SCRIPT (Universal Robots)， LS (Fanuc)， JBI (Motoman)， MOD (ABB)， PRG (ABB)，…</p></li> <li><p><strong>父</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>附加新添加的对象(可选)</p></li> </ul> </dd> </dl> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">项</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFile</span><span class="p">（</span><span class="sa">r</span><span class="s1">桌面的C: \ \用户名\ \ object.step”</span><span class="p">）</span><span class="n">项</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">transl</span><span class="p">（</span><span class="mi">One hundred.</span><span class="p">，</span><span class="mi">50</span><span class="p">，</span><span class="mi">500</span><span class="p">）)</span><span class="c1">#给现有的机器人添加一个工具:</span><span class="n">工具</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddFile</span><span class="p">（</span><span class="sa">r</span><span class="s1">桌面的C: \ \用户名\ \ robot-tool.stl”</span><span class="p">，</span><span class="n">机器人</span><span class="p">）</span><span class="n">工具</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">transl</span><span class="p">（</span><span class="mi">One hundred.</span><span class="p">，</span><span class="mi">50</span><span class="p">，</span><span class="mi">500</span><span class="p">）)</span><span class="c1">#添加一个参考框架，移动它并添加一个对象到该参考框架(本地):</span><span class="n">框架</span><span class="o">＝</span><span class="n">AddFrame</span><span class="p">（</span><span class="s1">“引用”</span><span class="p">）</span><span class="n">框架</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">transl</span><span class="p">（</span><span class="mi">One hundred.</span><span class="p">，</span><span class="mi">200</span><span class="p">，</span><span class="mi">300</span><span class="p">）)</span><span class="n">new_object</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Addfile</span><span class="p">（</span><span class="s1">“path-to-object.stl”</span><span class="p">，</span><span class="n">框架</span><span class="p">）</span></pre> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Save" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Save ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFrame ()</span></code></a>，<code class="xref py py-func docutils literal notranslate"><span class="pre">AddTool ()</span></code>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Copy" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">副本()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Paste" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">粘贴()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.AddShape"> <span class="sig-name descname"><span class="pre">AddShape</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">triangle_points</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">add_to</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">override_shapes</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.AddShape" title="¶”>¶</一个></dt><dd><p>添加提供三角形坐标的形状。三角形必须以顶点列表的形式提供。顶点法线可以选择提供。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>triangle_points</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>(3xN或6xN矩阵，N必须是3的倍数，因为顶点必须由3组堆叠))-按三角形分组的顶点列表。</p></li> <li><p><strong>父</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>附加新添加的几何图形(可选)</p></li> <li><p><strong>override_shapes</strong>（<em>保龄球</em>-设置为True以填充一个新形状的对象</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>添加对象/形状(失败则为0)</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p><a class="reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddCurve" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddCurve ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddPoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddPoints ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.AddCurve"> <span class="sig-name descname"><span class="pre">AddCurve</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">curve_points</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">reference_object</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">add_to_ref</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">projection_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">3.</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.AddCurve" title="¶”>¶</一个></dt><dd><p>添加一个提供点坐标的曲线。所提供的点必须是顶点的列表。顶点法线可以选择提供。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>curve_points</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>(3xN矩阵，或6xN提供曲线法线作为ijk向量))-定义曲线的点列表</p></li> <li><p><strong>reference_object</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>附加新添加的几何图形(可选)</p></li> <li><p><strong>add_to_ref</strong>（<em>保龄球</em>如果为True，曲线将被添加为RoboDK项目树对象的一部分(必须提供一个引用对象)</p></li> <li><p><strong>projection_type</strong>（<em>int</em>) -投影类型。使用PROJECTION_*标志。</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>添加对象/形状(失败则为0)</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p><a class="reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <div class="literal-block-wrapper docutils container" id="id9"> <div class="code-block-caption"> <span class="caption-text">可用的投影类型</span> <a class="headerlink" href="#id9" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">PROJECTION_NONE</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#没有投影</span><span class="n">PROJECTION_CLOSEST</span><span class="o">＝</span><span class="mi">1</span><span class="c1">#投影将是表面上最近的点</span><span class="n">PROJECTION_ALONG_NORMAL</span><span class="o">＝</span><span class="mi">2</span><span class="c1">投影将沿着法线进行。</span><span class="n">PROJECTION_ALONG_NORMAL_RECALC</span><span class="o">＝</span><span class="mi">3.</span><span class="c1">投影将沿着法线进行。并根据表面法线重新计算法线。</span><span class="n">PROJECTION_CLOSEST_RECALC</span><span class="o">＝</span><span class="mi">4</span><span class="c1">#投影将是表面上最近的点，法线将被重新计算</span><span class="n">PROJECTION_RECALC</span><span class="o">＝</span><span class="mi">5</span><span class="c1">法线根据最近投影的表面法线重新计算。分数不变。</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddShape" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddShape ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddPoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddPoints ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.AddPoints"> <span class="sig-name descname"><span class="pre">AddPoints</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">点</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">reference_object</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">add_to_ref</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">projection_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">3.</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.AddPoints" title="¶”>¶</一个></dt><dd><p>向对象添加点列表。所提供的点必须是顶点的列表。顶点法线可以选择提供。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>点</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>(3xN矩阵，或6xN提供点法线作为ijk向量))-点或矩阵的列表</p></li> <li><p><strong>reference_object</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>附加新添加的几何图形(可选)</p></li> <li><p><strong>add_to_ref</strong>（<em>保龄球</em>如果为True，这些点将被添加为RoboDK项目树对象的一部分(必须提供一个引用对象)</p></li> <li><p><strong>projection_type</strong>（<em>int</em>) -投影类型。使用PROJECTION_*标志。</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>添加对象/形状(失败则为0)</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p><a class="reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.ProjectPoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ProjectPoints ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddShape" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddShape ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddCurve" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddCurve ()</span></code></a></p> </div> <p>ProjectPoints和AddPoints之间的区别是，ProjectPoints不将点添加到RoboDK站。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.ProjectPoints"> <span class="sig-name descname"><span class="pre">ProjectPoints</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">点</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">object_project</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">projection_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">3.</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">超时</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">30.</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.ProjectPoints" title="¶”>¶</一个></dt><dd><p>投影一个点或一组点，给定它的坐标。所提供的点必须是[XYZ]坐标的列表。可选地，可以提供顶点法线[XYZijk]。它以点列表的形式返回投影点(如果失败则为空矩阵)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>点</strong>(点列表(XYZ或XYZijk浮点列表)，或<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>(3xN矩阵，或6xN提供点法线作为ijk向量))-要项目的点列表</p></li> <li><p><strong>object_project</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -对象以投射各点</p></li> <li><p><strong>projection_type</strong>（<em>int</em>) -投影类型。例如:PROJECTION_ALONG_NORMAL_RECALC将沿法线点投影，并在投影的表面上重新计算法向量。</p></li> <li><p><strong>超时</strong>（<em>int</em>-等待应答的最大超时时间，单位为秒(默认为30秒)。</p></li> </ul> </dd> </dl> <p>ProjectPoints和AddPoints之间的区别是，ProjectPoints不将点添加到RoboDK站。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.CloseStation"> <span class="sig-name descname"><span class="pre">CloseStation</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.CloseStation" title="¶”>¶</一个></dt><dd><p>关闭当前的RoboDK站，不建议保存</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Delete"> <span class="sig-name descname"><span class="pre">删除</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">item_list</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Delete" title="¶”>¶</一个></dt><dd><p>删除项目列表。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Delete" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Delete ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.CloseStation" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">CloseStation ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Save"> <span class="sig-name descname"><span class="pre">保存</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">文件名</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">itemsave</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Save" title="¶”>¶</一个></dt><dd><p>将项目或站保存到文件(支持的格式包括RDK, STL, ROBOT, TOOL，…)如果没有提供任何项，则保存开放站。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>文件名</strong>（<em>str</em>)—要保存的文件路径</p></li> <li><p><strong>itemsave</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -要保存的项(保留为0以保存当前RoboDK站为RDK文件</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddFile" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFile ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.AddStation"> <span class="sig-name descname"><span class="pre">AddStation</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">的名字</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“新</span><span class="pre">站的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.AddStation" title="¶”>¶</一个></dt><dd><p>添加一个新的空站。它返回车站<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>创建。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>的名字</strong>（<em>str</em>) -车站名称</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddFile" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFile ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.AddTarget"> <span class="sig-name descname"><span class="pre">AddTarget</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">的名字</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">itemparent</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">itemrobot</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.AddTarget" title="¶”>¶</一个></dt><dd><p>添加一个机器人可以到达的新目标。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>的名字</strong>（<em>str</em>) -目标名称</p></li> <li><p><strong>itemparent</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -用于附加目标的参考系</p></li> <li><p><strong>itemrobot</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>机器人将被用来去自我目标(可选)</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>创建新目标项</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p><a class="reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFrame ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.AddFrame"> <span class="sig-name descname"><span class="pre">AddFrame</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">的名字</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">itemparent</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.AddFrame" title="¶”>¶</一个></dt><dd><p>添加一个新的参考帧。它返回新的<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>创建。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>的名字</strong>（<em>str</em>) -新参考系的名称</p></li> <li><p><strong>itemparent</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -附加新参考系(例如另一参考系)的项目</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.AddProgram"> <span class="sig-name descname"><span class="pre">AddProgram</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">的名字</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">itemrobot</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.AddProgram" title="¶”>¶</一个></dt><dd><p>向RoboDK站添加一个新程序。程序可用于模拟特定的序列，生成特定于供应商的程序(离线编程)或在机器人上运行程序(在线编程)。2022世界杯8强赛时间它返回新的<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>创建。提示:使用moveobotthroughline .py宏在RoboDK站中创建程序(选项2)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>的名字</strong>（<em>str</em>-程序名称</p></li> <li><p><strong>itemrobot</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -将用于此程序的机器人。如果站点只有一个机器人或机构，则不需要指定机器人。</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>新程序项</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p><a class="reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveJ" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveJ ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveL" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveL ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setDO" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setDO ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.waitDI" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">waitDI ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Pause" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">暂停()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.RunCodeCustom" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RunCodeCustom ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.RunInstruction" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RunInstruction ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.ShowInstructions" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ShowInstructions ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.ShowTargets" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ShowTargets ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Update" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Update ()</span></code></a></p> </div> <p>例1 -带有移动的通用程序:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#关闭渲染(更快)</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="n">掠夺</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddProgram</span><span class="p">（</span><span class="s1">“AutoProgram”</span><span class="p">）</span><span class="c1">#隐藏程序指令(可选，但更快)</span><span class="n">掠夺</span><span class="o">．</span><span class="n">ShowInstructions</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">#检索当前机器人位置:</span><span class="n">pose_ref</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="c1">#遍历多个点</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="nb">len</span><span class="p">（</span><span class="n">点</span><span class="p">)):</span><span class="c1">#添加一个新目标</span><span class="n">“透明国际”</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddTarget</span><span class="p">（</span><span class="s1">汽车的目标</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="p">（</span><span class="n">我</span><span class="o">+</span><span class="mi">1</span><span class="p">）)</span><span class="c1">#使用参考姿态并更新XYZ位置</span><span class="n">pose_ref</span><span class="o">．</span><span class="n">setPos</span><span class="p">（</span><span class="n">点</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="n">“透明国际”</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">pose_ref</span><span class="p">）</span><span class="c1">#强制使用目标作为笛卡尔目标(默认)</span><span class="n">“透明国际”</span><span class="o">．</span><span class="n">setAsCartesianTarget</span><span class="p">（）</span><span class="c1">在新程序中添加目标为线性/联合移动</span><span class="n">掠夺</span><span class="o">．</span><span class="n">MoveL</span><span class="p">（</span><span class="n">“透明国际”</span><span class="p">）</span><span class="c1">#从树中隐藏目标物品:每次移动仍然保持自己的目标。</span><span class="c1">右键点击移动指令，选择“选择目标”，在树中看到目标</span><span class="n">程序</span><span class="o">．</span><span class="n">ShowTargets</span><span class="p">（</span><span class="kc">假</span><span class="p">）</span><span class="c1">#在开始模拟之前打开渲染(如果我们完成了，会自动打开)</span><span class="n">RDK</span><span class="o">．</span><span class="n">渲染</span><span class="p">（</span><span class="kc">真正的</span><span class="p">）</span><span class="c1">#--------------------------------------</span><span class="c1">更新程序路径，在RoboDK中显示黄色路径。</span><span class="c1">#设置碰撞检查开启或关闭</span><span class="n">check_collisions</span><span class="o">＝</span><span class="n">COLLISION_OFF</span><span class="c1">#更新路径(如果碰撞检查是活动的，可能需要一些时间)</span><span class="n">update_result</span><span class="o">＝</span><span class="n">程序</span><span class="o">．</span><span class="n">更新</span><span class="p">（</span><span class="n">check_collisions</span><span class="p">）</span><span class="c1">#检索结果</span><span class="n">n_insok</span><span class="o">＝</span><span class="n">update_result</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="n">时间</span><span class="o">＝</span><span class="n">update_result</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="n">距离</span><span class="o">＝</span><span class="n">update_result</span><span class="p">［</span><span class="mi">2</span><span class="p">］</span><span class="n">percent_ok</span><span class="o">＝</span><span class="n">update_result</span><span class="p">［</span><span class="mi">3.</span><span class="p">］</span><span class="o">＊</span><span class="mi">One hundred.</span><span class="n">str_problems</span><span class="o">＝</span><span class="n">update_result</span><span class="p">［</span><span class="mi">4</span><span class="p">］</span><span class="k">如果</span><span class="n">percent_ok</span><span class="o"><</span><span class="mf">100.0</span><span class="p">：</span><span class="n">msg_str</span><span class="o">＝</span><span class="s2">“警告!<strong>的问题</span><span class="si">% s</span><span class="s2">< / >强(</span><span class="si">% .1f</span><span class="s2">): < br ></span><span class="si">% s</span><span class="s2">”</span><span class="o">％</span><span class="p">（</span><span class="n">program_name</span><span class="p">，</span><span class="n">percent_ok</span><span class="p">，</span><span class="n">str_problems</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="n">msg_str</span><span class="o">＝</span><span class="s2">“程序没有发现问题</span><span class="si">% s</span><span class="s2">”</span><span class="o">％</span><span class="n">program_name</span><span class="c1">#通知用户:</span><span class="nb">打印</span><span class="p">（</span><span class="n">msg_str</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="n">msg_str</span><span class="p">）</span></pre> </div> </div> <p>例2 -程序流，管理输入/输出和程序调用:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#添加暂停(单位:毫秒)</span><span class="n">程序</span><span class="o">．</span><span class="n">暂停</span><span class="p">（</span><span class="mi">1000</span><span class="p">）</span><span class="c1">#暂停动作1秒</span><span class="c1">#停止程序，以便可以恢复</span><span class="c1">#触发STOP(暂停直到操作符想要继续)</span><span class="n">程序</span><span class="o">．</span><span class="n">暂停</span><span class="p">（）</span><span class="c1">在程序中添加一个程序调用或特定的代码:</span><span class="n">程序</span><span class="o">．</span><span class="n">RunInstruction</span><span class="p">（</span><span class="s1">“ChangeTool(2)”</span><span class="p">，</span><span class="n">INSTRUCTION_CALL_PROGRAM</span><span class="p">）</span><span class="n">程序</span><span class="o">．</span><span class="n">RunInstruction</span><span class="p">（</span><span class="s1">“ChangeTool(2),“</span><span class="p">，</span><span class="n">INSTRUCTION_INSERT_CODE</span><span class="p">）</span><span class="c1">#设置数字输出</span><span class="n">程序</span><span class="o">．</span><span class="n">setDO</span><span class="p">（</span><span class="s1">“DO_NAME”</span><span class="p">，</span><span class="mi">1</span><span class="p">）</span><span class="c1">#等待数字输入:</span><span class="n">程序</span><span class="o">．</span><span class="n">waitDI</span><span class="p">（</span><span class="s1">“DI_NAME”</span><span class="p">，</span><span class="mi">1</span><span class="p">）</span></pre> </div> </div> <p>例3 -添加带有外部轴的运动:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#添加一个涉及外部轴的新运动:</span><span class="c1">#首先:创建一个新目标</span><span class="n">目标</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddTarget</span><span class="p">（</span><span class="s2">“T1”</span><span class="p">，</span><span class="n">参考</span><span class="p">）</span><span class="c1">#设置目标为笛卡尔坐标(默认值)</span><span class="n">目标</span><span class="o">．</span><span class="n">setAsCartesianTarget</span><span class="p">（）</span><span class="c1">#指定外部轴的位置:</span><span class="n">external_axes</span><span class="o">＝</span><span class="p">［</span><span class="mi">10</span><span class="p">，</span><span class="mi">20.</span><span class="p">］</span><span class="c1">机器人的关节是为了达到目标而计算的</span><span class="c1">#给定外部轴的位置</span><span class="n">目标</span><span class="o">．</span><span class="n">setJoints</span><span class="p">([</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="o">+</span><span class="n">external_axes</span><span class="p">）</span><span class="c1">#指定姿态(相对于参考系的位置):</span><span class="n">目标</span><span class="o">．</span><span class="n">setPose</span><span class="p">（</span><span class="n">KUKA_2_Pose</span><span class="p">([</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="p">，</span><span class="n">w</span><span class="p">，</span><span class="n">p</span><span class="p">，</span><span class="n">r</span><span class="p">)))</span><span class="c1">#添加一个新的移动指令链接到目标:</span><span class="n">程序</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">目标</span><span class="p">）</span></pre> </div> </div> <p>例4 -在程序内的每个移动指令后添加一个程序调用:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="kn">从</span><span class="nn">robodk.robodialogs</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#用户提示</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#让用户选择一个程序:</span><span class="n">掠夺</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s2">“选择要修改的程序”</span><span class="p">，</span><span class="n">ITEM_TYPE_PROGRAM</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">掠夺</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="nb">打印</span><span class="p">（</span><span class="s2">"操作取消或无节目可用"</span><span class="p">）</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#要求用户输入一个函数调用，在每次移动后添加:</span><span class="nb">打印</span><span class="p">（</span><span class="s2">"所选项目:"</span><span class="o">+</span><span class="n">掠夺</span><span class="o">．</span><span class="n">的名字</span><span class="p">（））</span><span class="n">ins_call</span><span class="o">＝</span><span class="n">mbox</span><span class="p">（</span><span class="s2">“在每次移动后输入要添加的程序调用”</span><span class="p">，</span><span class="n">条目</span><span class="o">＝</span><span class="s2">“SynchRobot”</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">ins_call</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“取消行动”</span><span class="p">）</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">遍历程序中的所有指令:</span><span class="n">ins_id</span><span class="o">＝</span><span class="mi">0</span><span class="n">ins_count</span><span class="o">＝</span><span class="n">掠夺</span><span class="o">．</span><span class="n">InstructionCount</span><span class="p">（）</span><span class="k">而</span><span class="n">ins_id</span><span class="o"><</span><span class="n">ins_count</span><span class="p">：</span><span class="c1">#检索指令</span><span class="n">ins_nom</span><span class="p">，</span><span class="n">ins_type</span><span class="p">，</span><span class="n">move_type</span><span class="p">，</span><span class="n">isjointtarget</span><span class="p">，</span><span class="n">构成</span><span class="p">，</span><span class="n">关节</span><span class="o">＝</span><span class="n">掠夺</span><span class="o">．</span><span class="n">指令</span><span class="p">（</span><span class="n">ins_id</span><span class="p">）</span><span class="k">如果</span><span class="n">ins_type</span><span class="o">= =</span><span class="n">INS_TYPE_MOVE</span><span class="p">：</span><span class="c1">#选择移动指令作为参考</span><span class="n">掠夺</span><span class="o">．</span><span class="n">InstructionSelect</span><span class="p">（</span><span class="n">ins_id</span><span class="p">）</span><span class="c1">#添加一个新的程序调用</span><span class="n">掠夺</span><span class="o">．</span><span class="n">RunInstruction</span><span class="p">（</span><span class="n">ins_call</span><span class="p">，</span><span class="n">INSTRUCTION_CALL_PROGRAM</span><span class="p">）</span><span class="c1">#前进一条额外的指令，因为我们刚刚添加了另一条指令</span><span class="n">ins_id</span><span class="o">＝</span><span class="n">ins_id</span><span class="o">+</span><span class="mi">1</span><span class="n">ins_count</span><span class="o">＝</span><span class="n">ins_count</span><span class="o">+</span><span class="mi">1</span><span class="n">ins_id</span><span class="o">＝</span><span class="n">ins_id</span><span class="o">+</span><span class="mi">1</span></pre> </div> </div> <p>更多直接从脚本中生成程序或直接从程序中移动机器人的示例:<一个类＝”reference internal" href="//www.sinclairbody.com/doc/en/PythonAPI/examples.html"><span class="std std-ref">项目要点</span></a>．或者RoboDK/Library/Macros/ moveobotthroughline .py中的宏</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.AddMillingProject"> <span class="sig-name descname"><span class="pre">AddMillingProject</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">的名字</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“铣</span><span class="pre">设置”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">itemrobot</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.AddMillingProject" title="¶”>¶</一个></dt><dd><p>过时的,使用<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddMachiningProject" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddMachiningProject ()</span></code></a>而不是</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.AddMachiningProject"> <span class="sig-name descname"><span class="pre">AddMachiningProject</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">的名字</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“铣</span><span class="pre">设置”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">itemrobot</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.AddMachiningProject" title="¶”>¶</一个></dt><dd><p>添加一个新的机器人加工项目。加工项目也可以用于3D打印，跟随曲线和跟随点。它返回新创建的对象<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>包含项目设置。提示:使用moveobotthroughline .py宏来查看创建一个新的“曲线跟踪项目”的示例，该项目给出了一个要跟踪的点列表(选项4)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>的名字</strong>（<em>str</em>) -项目设置的名称</p></li> <li><p><strong>itemrobot</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -机器人用于项目设置(可选)。如果RoboDK站中只有一个机器人或机构可用，则不需要指定机器人。</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setMachiningParameters" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setMachiningParameters ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.RunProgram"> <span class="sig-name descname"><span class="pre">调用</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">fcn_param</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">wait_for_finished</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.RunProgram" title="¶”>¶</一个></dt><dd><p>运行程序(启动程序)。如果程序存在于RoboDK站中，则其行为与右键单击并选择运行(或运行Python程序的Python脚本)相同。当脱机生成程序(脱机编程)时，程序调用将在程序输出中生成(当使用后处理2022世界杯8强赛时间器为特定机器人生成代码时，RoboDK将处理语法)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>fcn_param</strong>（<em>str</em>) -程序名称和参数。也可以为RoboDK站中可用的Python程序提供参数。</p></li> <li><p><strong>wait_for_finished</strong>（<em>保龄球</em>-设置为True在模拟过程中阻止执行，直到程序完成(如果程序不存在或程序生成时跳过)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Item" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">项目()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Busy" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">忙()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.RunCode"> <span class="sig-name descname"><span class="pre">RunCode</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">代码</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">code_is_fcn_call</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.RunCode" title="¶”>¶</一个></dt><dd><p>在程序中生成程序调用或自定义指令输出。如果code_is_fcn_call设置为True，则其行为与RDK.RunProgram()相同。在这种情况下，当脱机生成程序(脱机编程)时，将在程序输出中生成函数/过程调用(当使用后处理器为特定2022世界杯8强赛时间机器人生成代码时，RoboDK将处理语法)。如果程序存在，它也会以模拟模式运行程序。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>代码</strong>（<em>str</em>) -要生成的程序名称或代码</p></li> <li><p><strong>code_is_fcn_call</strong>（<em>保龄球</em>-如果提供的代码对应于函数调用(与RunProgram()相同)，则设置为True，如果是这样，RoboDK将在为特定机器人生成代码时处理语法。</p></li> </ul> </dd> </dl> <p>在RoboDK站中运行一个现有程序:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robolink库</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#连接到RoboDK API(如果RoboDK还没有启动，则启动它</span><span class="n">RDK</span><span class="o">．</span><span class="n">RunCode</span><span class="p">（</span><span class="s2">“Prog1”</span><span class="p">，</span><span class="kc">真正的</span><span class="p">）</span><span class="c1">#在RoboDK站运行一个名为Prog1的程序</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.RunMessage"> <span class="sig-name descname"><span class="pre">RunMessage</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">消息</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">message_is_comment</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.RunMessage" title="¶”>¶</一个></dt><dd><p>在脱机生成的程序(程序生成)中显示消息或注释。该信息(或代码)显示在机器人的教学吊坠上。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>消息</strong>（<em>str</em>) -要显示的消息或注释。</p></li> <li><p><strong>message_is_comment</strong>（<em>保龄球</em>) -设置为True，在生成的代码中生成注释，而不是在机器人的teach pendant上显示消息。</p></li> </ul> </dd> </dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Render"> <span class="sig-name descname"><span class="pre">渲染</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">always_render</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Render" title="¶”>¶</一个></dt><dd><p>显示/渲染场景:更新显示。此函数将转换默认呈现(除非always_render设置为true，否则在任何站点修改后呈现)。使用Update更新整个站的内部链接而不呈现(当机器人或物品被移动时)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>always_render</strong>（<em>保龄球</em>-设置为True，每次站点被修改时更新屏幕(不使用Render()时的默认行为)。</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Update" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Update ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Update"> <span class="sig-name descname"><span class="pre">更新</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Update" title="¶”>¶</一个></dt><dd><p>更新屏幕。这将根据之前设置的值更新所有机器人和内部链接的位置。此函数在关闭渲染时非常有用(示例:" RDK.Render(False) ")。否则，默认情况下，RoboDK将在任何站点修改后更新所有链接(当机器人或物品移动时)。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Render" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">呈现()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.IsInside"> <span class="sig-name descname"><span class="pre">IsInside</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">object_inside</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">对象</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.IsInside" title="¶”>¶</一个></dt><dd><p>如果object_inside在对象内部，则返回1 (True)，否则返回0 (False)。两个对象都必须是类型<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setCollisionActive"> <span class="sig-name descname"><span class="pre">setCollisionActive</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">check_state</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setCollisionActive" title="¶”>¶</一个></dt><dd><p>设置全局碰撞检查ON或OFF (COLLISION_ON/COLLISION_OFF)。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setCollisionActivePair" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setCollisionActivePair ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Visible" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">可见()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setCollisionActivePair"> <span class="sig-name descname"><span class="pre">setCollisionActivePair</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">check_state</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">item1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">第二条</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">id1</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">id2下</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setCollisionActivePair" title="¶”>¶</一个></dt><dd><p>为特定的一对对象设置碰撞检查ON或OFF (COLLISION_ON/COLLISION_OFF)<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>)．这允许更改碰撞检查的碰撞映射。为机器人或移动机构指定链接id (id 0为基数)如果成功则返回1。如果设置pair失败，则返回0(提供了错误的id)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setCollisionActive" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setCollisionActive ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Collisions" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">碰撞()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Visible" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">可见()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setCollisionActivePairList"> <span class="sig-name descname"><span class="pre">setCollisionActivePairList</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">list_check_state</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">list_item1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">list_item2</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">list_id1</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">list_id2</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setCollisionActivePairList" title="¶”>¶</一个></dt><dd><p>为特定的对象对列表设置碰撞检查ON或OFF (COLLISION_ON/COLLISION_OFF)。这允许更改碰撞检查的碰撞映射。为机器人或移动机构指定链接id (id 0是基数)。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setCollisionActive" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setCollisionActive ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Collisions" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">碰撞()</span></code></a>，<code class="xref py py-func docutils literal notranslate"><span class="pre">setCollisionActivePair ()</span></code></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Collisions"> <span class="sig-name descname"><span class="pre">碰撞</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Collisions" title="¶”>¶</一个></dt><dd><p>返回当前处于碰撞状态的对象对的数目。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setCollisionActive" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setCollisionActive ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Collisions" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">碰撞()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.CollisionItems" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">CollisionItems ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Visible" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">可见()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Collision"> <span class="sig-name descname"><span class="pre">碰撞</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">item1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">第二条</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Collision" title="¶”>¶</一个></dt><dd><p>如果item1和item2相撞，则返回1。否则返回0。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Collisions" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">碰撞()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.CollisionItems" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">CollisionItems ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Visible" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">可见()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.CollisionItems"> <span class="sig-name descname"><span class="pre">CollisionItems</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.CollisionItems" title="¶”>¶</一个></dt><dd><p>返回处于冲突状态的项的列表。可以在调用Collisions()之后使用这个函数来检索处于碰撞状态的项。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Collisions" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">碰撞()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Visible" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">可见()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.CollisionPairs"> <span class="sig-name descname"><span class="pre">CollisionPairs</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.CollisionPairs" title="¶”>¶</一个></dt><dd><p>返回处于冲突状态的项对列表。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Collisions" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">碰撞()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Visible" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">可见()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setSimulationSpeed"> <span class="sig-name descname"><span class="pre">setSimulationSpeed</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">速度</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setSimulationSpeed" title="¶”>¶</一个></dt><dd><p>设置仿真速度。模拟速度为5(默认值)意味着在实际应用程序中，1秒的模拟时间等于5秒。允许的最慢速比是0.001。设置一个大的模拟比(>100)，快速模拟结果。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>速度</strong>（<em>浮动</em>) -模拟比</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.SimulationSpeed" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SimulationSpeed ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.SimulationTime" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SimulationTime ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.SimulationSpeed"> <span class="sig-name descname"><span class="pre">SimulationSpeed</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.SimulationSpeed" title="¶”>¶</一个></dt><dd><p>返回模拟速度。仿真速度为1表示实时仿真。模拟速度为5(默认值)意味着在实际应用程序中，1秒的模拟时间等于5秒。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setSimulationSpeed" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setSimulationSpeed ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.SimulationTime"> <span class="sig-name descname"><span class="pre">SimulationTime</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.SimulationTime" title="¶”>¶</一个></dt><dd><p>检索模拟时间(以秒为单位)。0秒的时间从第一次调用此函数开始。仿真时间随仿真速度的不同而变化。模拟时间通常比实际时间快(默认为5倍)。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setSimulationSpeed" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setSimulationSpeed ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.SimulationSpeed" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SimulationSpeed ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setRunMode"> <span class="sig-name descname"><span class="pre">setRunMode</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">run_mode</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setRunMode" title="¶”>¶</一个></dt><dd><p>为模拟、脱机编程或在线编程设置脚本的运行模式(行为)。2022世界杯8强赛时间默认情况下，robodk显示移动指令的路径模拟(run_mode=RUNMODE_SIMULATE)。</p><d我v类＝”literal-block-wrapper docutils container" id="id10"> <div class="code-block-caption"> <span class="caption-text">可用的运行模式</span> <a class="headerlink" href="#id10" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">RUNMODE_SIMULATE</span><span class="o">＝</span><span class="mi">1</span><span class="c1">#执行模拟移动机器人(默认)</span><span class="n">RUNMODE_QUICKVALIDATE</span><span class="o">＝</span><span class="mi">2</span><span class="c1">#执行快速检查以验证机器人的运动</span><span class="n">RUNMODE_MAKE_ROBOTPROG</span><span class="o">＝</span><span class="mi">3.</span><span class="c1">#使机器人程序</span><span class="n">RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD</span><span class="o">＝</span><span class="mi">4</span><span class="c1">#生成机器人程序并将其更新到机器人</span><span class="n">RUNMODE_MAKE_ROBOTPROG_AND_START</span><span class="o">＝</span><span class="mi">5</span><span class="c1">#创建机器人程序并在机器人上启动它(独立于PC)</span><span class="n">RUNMODE_RUN_ROBOT</span><span class="o">＝</span><span class="mi">6</span><span class="c1">#移动真正的机器人从PC (PC是客户端，机器人的行为像一个服务器)</span></pre> </div> </div> </div> <p>以下调用将改变当前运行模式:</p><p>1-<一个类＝”reference internal" href="#robodk.robolink.Item.Connect" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Connect ()</span></code></a>自动设置RUNMODE_RUN_ROBOT。因此，它将使用机器人驱动程序和仿真。</p><p>2-<一个类＝”reference internal" href="#robodk.robolink.Robolink.ProgramStart" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ProgramStart ()</span></code></a>自动设置模式为RUNMODE_MAKE_ROBOTPROG。它会生成程序</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.RunMode" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RunMode ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.RunMode"> <span class="sig-name descname"><span class="pre">RunMode</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.RunMode" title="¶”>¶</一个></dt><dd><p>返回脚本的当前运行模式(行为)。默认情况下，robodk模拟从API(如program . movel)请求的任何移动模拟移动指令(run_mode=RUNMODE_SIMULATE)。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setRunMode" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setRunMode ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.getParams"> <span class="sig-name descname"><span class="pre">getParams</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.getParams" title="¶”>¶</一个></dt><dd><p>从开放的RoboDK站获取所有用户参数。站点参数也可以手动修改，方法是右键单击站点项并选择“站点参数”:return:字符串对列表:rtype: str列表</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.getParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getParam ()</span></code></a>(Robolink站参数)，<一个类＝”reference internal" href="#robodk.robolink.Robolink.setParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParam ()</span></code></a>(Robolink站参数)</p></d我v></dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.getParam"> <span class="sig-name descname"><span class="pre">getParam</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">参数</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“PATH_OPENSTATION”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">str_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.getParam" title="¶”>¶</一个></dt><dd><p>从打开的RoboDK站获取全局参数或站参数。站点参数也可以手动修改，右键单击站点项，选择“站点参数”</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>参数</strong>（<em>str</em>) -参数名称</p></li> <li><p><strong>str_type</strong>（<em>保龄球</em>-获取字符串参数为True(对于二进制/字节类型为False)</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>参数的值。</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p>如果参数未知，则为str, float或None</p></dd></dl> <div class="literal-block-wrapper docutils container" id="id11"> <div class="code-block-caption"> <span class="caption-text">可用的全局参数</span> <a class="headerlink" href="#id11" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">PATH_OPENSTATION</span><span class="c1">#当前站的完整路径(。rdk文件)</span><span class="n">FILE_OPENSTATION</span><span class="c1">#当前站点的文件名(.rdk文件的名称)</span><span class="n">PATH_DESKTOP</span><span class="c1">#桌面文件夹的完整路径</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParam ()</span></code></a>(Robolink站参数)，<一个类＝”reference internal" href="#robodk.robolink.Robolink.getParams" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getParams ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setParam"> <span class="sig-name descname"><span class="pre">setParam</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">参数</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">价值</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setParam" title="¶”>¶</一个></dt><dd><p>设置站点参数。如果参数存在，它将被更新。否则，它将被添加到站点。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>参数</strong>（<em>str</em>) -参数名称</p></li> <li><p><strong>价值</strong>（<em>str</em>参数的值(值类型可以是STR或bytes)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.getParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getParam ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Command"> <span class="sig-name descname"><span class="pre">命令</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">cmd</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">价值</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Command" title="¶”>¶</一个></dt><dd><p>发送一个特殊命令。这些命令是为了在RoboDK中具有特定的效果，例如改变特定的设置或引发特定的事件。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>命令</strong>（<em>str</em>)—命令名称，例如Trace、Threads或Window。</p></li> <li><p><strong>价值</strong>（<em>str</em>命令值(可选，不是所有命令都需要值)</p></li> </ul> </dd> </dl> <p>选择<strong>工具-运行脚本-显示命令</strong>查看所有可用命令。</p><我米g alt="_images / Commands.png”src="//www.sinclairbody.com/doc/en/PythonAPI/_images/Commands.png"> <div class="literal-block-wrapper docutils container" id="id12"> <div class="code-block-caption"> <span class="caption-text">示例命令</span> <a class="headerlink" href="#id12" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#启动RoboDK API</span><span class="c1">#如何改变RoboDK应用程序使用的线程数:</span><span class="n">RDK</span><span class="o">．</span><span class="n">命令</span><span class="p">（</span><span class="s2">“线程”</span><span class="p">，</span><span class="s2">“4”</span><span class="p">）</span><span class="c1">#如何使用鼠标改变3D视图的默认行为:</span><span class="n">RDK</span><span class="o">．</span><span class="n">命令</span><span class="p">（</span><span class="s2">“MouseClick_Left”</span><span class="p">，</span><span class="s2">“选择”</span><span class="p">）</span><span class="c1">#设置鼠标左键点击选择</span><span class="n">RDK</span><span class="o">．</span><span class="n">命令</span><span class="p">（</span><span class="s2">“MouseClick_Mid”</span><span class="p">，</span><span class="s2">“锅”</span><span class="p">）</span><span class="c1">#设置鼠标中间点击为平移3D视图</span><span class="n">RDK</span><span class="o">．</span><span class="n">命令</span><span class="p">（</span><span class="s2">“MouseClick_Right”</span><span class="p">，</span><span class="s2">“旋转”</span><span class="p">）</span><span class="c1">#设置鼠标右键旋转3D视图</span><span class="n">RDK</span><span class="o">．</span><span class="n">命令</span><span class="p">（</span><span class="s2">“MouseClick”</span><span class="p">，</span><span class="s2">“默认”</span><span class="p">）</span><span class="c1">#设置默认的鼠标3D导航设置</span><span class="c1">#引发调整大小事件</span><span class="n">RDK</span><span class="o">．</span><span class="n">命令</span><span class="p">（</span><span class="s2">“窗口”</span><span class="p">，</span><span class="s2">“调整”</span><span class="p">）</span><span class="c1">#重置跟踪</span><span class="n">RDK</span><span class="o">．</span><span class="n">命令</span><span class="p">（</span><span class="s2">“跟踪”</span><span class="p">，</span><span class="s2">“重置”</span><span class="p">）</span></pre> </div> </div> </div> <p>您还可以在启动RoboDK或RoboDK已经运行时通过命令行传递命令(在命令名后添加' - ')。关于命令行选项的更多信息，请参见文档:<一个类＝”reference external" href="//www.sinclairbody.com/doc/en/RoboDK-API.html">//www.sinclairbody.com/doc/en/RoboDK-API.html#CommandLine</一个></p><d我v类＝”literal-block-wrapper docutils container" id="id13"> <div class="code-block-caption"> <span class="caption-text">使用6个线程在中文和白色背景下启动RoboDK，并加载一个RoboDK项目文件</span> <a class="headerlink" href="#id13" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">RoboDK</span><span class="o">-</span><span class="n">朗</span><span class="o">＝</span><span class="n">古银</span><span class="o">-</span><span class="n">ColorBgBottom</span><span class="o">＝</span><span class="n">白色</span><span class="o">-</span><span class="n">ColorBgTop</span><span class="o">＝</span><span class="n">白色</span><span class="o">-</span><span class="n">线程</span><span class="o">＝</span><span class="mi">6</span><span class="s2">“path-to-file.rdk”</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParam ()</span></code></a>(项目参数/命令),<一个类＝”reference internal" href="#robodk.robolink.Robolink.setParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParam ()</span></code></a>(Robolink站参数)</p></d我v></dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.getOpenStations"> <span class="sig-name descname"><span class="pre">getOpenStations</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.getOpenStations" title="¶”>¶</一个></dt><dd><p>返回RoboDK中开放站的列表</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setActiveStation" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setActiveStation ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.getParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getParam ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Childs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">蔡尔兹()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Save" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Save ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddStation" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddStation ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.ActiveStation"> <span class="sig-name descname"><span class="pre">ActiveStation</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.ActiveStation" title="¶”>¶</一个></dt><dd><p>返回活动的站项(当前可见的站)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setActiveStation" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setActiveStation ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.getParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getParam ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Childs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">蔡尔兹()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Save" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Save ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddStation" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddStation ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setActiveStation"> <span class="sig-name descname"><span class="pre">setActiveStation</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">stn</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setActiveStation" title="¶”>¶</一个></dt><dd><p>设置活动站(项目当前可见)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>stn</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -站项，它可以之前作为RDK文件加载</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.ActiveStation" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ActiveStation ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.getOpenStations" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getOpenStations ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.getParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getParam ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Childs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">蔡尔兹()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddFile" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFile ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddStation" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddStation ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.ShowSequence"> <span class="sig-name descname"><span class="pre">ShowSequence</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">矩阵</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.ShowSequence" title="¶”>¶</一个></dt><dd><p>给出一个关节列表作为一个矩阵，显示一个关节序列。该函数还可以显示指令序列(RoKiSim格式)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>矩阵</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -作为6xN矩阵的关节序列或作为7xN矩阵的指令序列</p></dd></dl> <p>提示:使用<一个类＝”reference internal" href="#robodk.robolink.Item.InstructionList" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">InstructionList ()</span></code></a>检索RoKiSim格式的指令列表。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.LaserTracker_Measure"> <span class="sig-name descname"><span class="pre">LaserTracker_Measure</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">估计</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">[0,</span><span class="pre">0，</span><span class="pre">0]</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">搜索</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.LaserTracker_Measure" title="¶”>¶</一个></dt><dd><p>使用激光跟踪器相对于跟踪器参考系进行测量。如果提供了估计值点，激光跟踪器将首先移动到该坐标。如果search为True，跟踪器将搜索目标。如果找到目标，则返回目标的XYZ坐标。否则返回None。对于支持6D测量的跟踪器，返回值为包含欧拉角的6个值的数组(列表)。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.MeasurePose"> <span class="sig-name descname"><span class="pre">MeasurePose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">目标</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">time_avg_ms</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">tip_xyz</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.MeasurePose" title="¶”>¶</一个></dt><dd><p>用6D测量装置进行测量。它返回两个姿态，基本参考系和被测物体参考系。如果测量失败，状态为阴性。额外的数据是[error_avg, error_max]，单位是mm，如果我们平均一个姿势。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>time_avg</strong>—测量一段时间，取平均值。</p></li> <li><p><strong>tip_xyz</strong>-将测量值偏移到尖端。</p></li> </ul> </dd> </dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Collision_Line"> <span class="sig-name descname"><span class="pre">Collision_Line</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="pre">p1,</span><span class="pre">p2,</span><span class="pre">ref =矩阵:</span><span class="pre">(4,</span><span class="pre">4）</span><span class="pre">构成(0.000,</span><span class="pre">0.000,</span><span class="pre">0.000,</span><span class="pre">0.000,</span><span class="pre">0.000,</span><span class="pre">0.000):</span><span class="pre">[[</span><span class="pre">1，</span><span class="pre">0，</span><span class="pre">0，</span><span class="pre">0</span><span class="pre">]，</span><span class="pre">［</span><span class="pre">0，</span><span class="pre">1，</span><span class="pre">0，</span><span class="pre">0</span><span class="pre">]，</span><span class="pre">［</span><span class="pre">0，</span><span class="pre">0，</span><span class="pre">1，</span><span class="pre">0</span><span class="pre">]，</span><span class="pre">［</span><span class="pre">0，</span><span class="pre">0，</span><span class="pre">0，</span><span class="pre">1</span><span class="pre">]]</span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Collision_Line" title="¶”>¶</一个></dt><dd><p>检查线路与站内任何物体之间的碰撞。直线由2个点定义。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>p1</strong>（<em>浮子清单</em><em>［</em><em>x</em><em>，</em><em>y</em><em>，</em><em>z</em><em>］</em>) -直线的起点</p></li> <li><p><strong>p2</strong>（<em>浮子清单</em><em>［</em><em>x</em><em>，</em><em>y</em><em>，</em><em>z</em><em>］</em>) -直线的终点</p></li> <li><p><strong>裁判</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -这两点相对于绝对基准点的基准点。</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>[碰撞(正确或错误)，项目(碰撞)，点(相对于车站的碰撞点)]</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p>bool,<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>，浮点数列表为xyz]</p></dd></dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setPoses"> <span class="sig-name descname"><span class="pre">setpos</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">项目</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">提出了</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setPoses" title="¶”>¶</一个></dt><dd><p>设置项列表相对于它们的父项的相对位置(姿势)。例如，一个对象/帧/目标相对于其父对象的位置。使用此函数代替setPose()以获得更快的速度。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setPose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPose ()</span></code></a>(项目),<一个类＝”reference internal" href="#robodk.robolink.Item.Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">造成()</span></code></a>(项目),<一个类＝”reference internal" href="#robodk.robolink.Robolink.setPosesAbs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPosesAbs ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setPosesAbs"> <span class="sig-name descname"><span class="pre">setPosesAbs</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">项目</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">提出了</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setPosesAbs" title="¶”>¶</一个></dt><dd><p>设置项目列表相对于站点参考的绝对位置(姿态)。例如，一个对象/帧/目标相对于其父对象的位置。使用此函数代替setPose()以获得更快的速度。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setPoseAbs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseAbs ()</span></code></a>(项目),<一个类＝”reference internal" href="#robodk.robolink.Item.PoseAbs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseAbs ()</span></code></a>(项目),<一个类＝”reference internal" href="#robodk.robolink.Robolink.setPoses" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setpos ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Joints"> <span class="sig-name descname"><span class="pre">关节</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">robot_item_list</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Joints" title="¶”>¶</一个></dt><dd><p>返回机器人列表的当前关节。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setJoints ()</span></code></a>(项目),<一个类＝”reference internal" href="#robodk.robolink.Item.Joints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">关节()</span></code></a>(项目),<一个类＝”reference internal" href="#robodk.robolink.Robolink.setJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setJoints ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setJoints"> <span class="sig-name descname"><span class="pre">setJoints</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">robot_item_list</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">joints_list</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setJoints" title="¶”>¶</一个></dt><dd><p>为机器人项列表和列表关节设置当前机器人关节。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setJoints ()</span></code></a>(项目),<一个类＝”reference internal" href="#robodk.robolink.Item.Joints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">关节()</span></code></a>(项目),<一个类＝”reference internal" href="#robodk.robolink.Robolink.Joints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">关节()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.CalibrateTool"> <span class="sig-name descname"><span class="pre">CalibrateTool</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">poses_xyzwpr</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">input_format</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">4</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">算法</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">机器人</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">工具</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.CalibrateTool" title="¶”>¶</一个></dt><dd><p>根据给定的姿势/关节列表并遵循特定的算法/方法校准TCP。提示:提供关节列表而不是姿势，以最大限度地提高校准机器人的精度。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>poses_xyzwpr</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>点的列表或机器人关节的列表(矩阵3xN或nDOFsxN)</p></li> <li><p><strong>input_format</strong>（<em>int</em>) -欧拉格式。可选地，使用JOINT_FORMAT并提供机器人。</p></li> <li><p><strong>算法</strong>（<em>int</em>-用于计算新的TCP的方法/算法。提示:使用CALIBRATE_TCP…</p></li> <li><p><strong>机器人</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -机器人必须提供关节计算参考系</p></li> <li><p><strong>工具</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -提供一个工具项来存储该工具的校准数据(TCP不更新，只有校准接头)</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p></p> <p>[TCP，统计信息，错误]</p><p>输出1 (TCP) - TCP作为一个关于机器人法兰的列表[x,y,z]</p><p>Out 2 (stats) -统计数据为[平均值，标准偏差，最大值]-错误统计数据汇总</p><p>Out 3 (errors) -每个姿态的错误列表(数组1xN)</p><p></p></dd> </dl> <div class="literal-block-wrapper docutils container" id="id14"> <div class="code-block-caption"> <span class="caption-text">可用工具校准算法</span> <a class="headerlink" href="#id14" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">CALIBRATE_TCP_BY_POINT</span><span class="c1">#不同方向取同一点</span><span class="n">CALIBRATE_TCP_BY_PLANE</span><span class="c1">取平面上的同一点</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.CalibrateReference" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">CalibrateReference ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.CalibrateReference"> <span class="sig-name descname"><span class="pre">CalibrateReference</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">joints_points</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">方法</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">use_joints</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">机器人</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.CalibrateReference" title="¶”>¶</一个></dt><dd><p>根据特定的算法/方法，对给定数量的点的参考系进行校准。重要:提供关节列表，以最大限度地提高校准机器人的精度。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>joints_points</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>点的列表或机器人关节的列表(矩阵3xN或nDOFsxN)</p></li> <li><p><strong>方法</strong>（<em>int</em>-用于计算新的TCP的方法/算法。提示:使用CALIBRATE_FRAME…</p></li> <li><p><strong>use_joints</strong>（<em>保龄球</em>-使用点或关节值(bool):如果joints_points是一个关节列表，则设置为True</p></li> <li><p><strong>机器人</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -机器人必须提供关节计算参考系</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>参考坐标系相对于机器人基本坐标系的姿态</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p><a class="reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a></p> </dd> </dl> <div class="literal-block-wrapper docutils container" id="id15"> <div class="code-block-caption"> <span class="caption-text">可用参考系标定算法</span> <a class="headerlink" href="#id15" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">CALIBRATE_FRAME_3P_P1_ON_X</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#校准3点:[X, X+， Y+] (p1在X轴上)</span><span class="n">CALIBRATE_FRAME_3P_P1_ORIGIN</span><span class="o">＝</span><span class="mi">1</span><span class="c1">#校准3点:[原点，X+， XY+] (p1为原点)</span><span class="n">CALIBRATE_FRAME_6P</span><span class="o">＝</span><span class="mi">2</span><span class="c1">#校准6点</span><span class="n">CALIBRATE_TURNTABLE</span><span class="o">＝</span><span class="mi">3.</span><span class="c1">#校准转盘</span><span class="n">CALIBRATE_TURNTABLE</span><span class="o">＝</span><span class="mi">4</span><span class="c1">#校准2轴转盘</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.CalibrateTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">CalibrateTool ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.ProgramStart"> <span class="sig-name descname"><span class="pre">ProgramStart</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">programname</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">文件夹</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">后处理程序</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">机器人</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.ProgramStart" title="¶”>¶</一个></dt><dd><p>在生成程序(脱机编程)时定义程序的名称。2022世界杯8强赛时间也可以指定后处理器的名称以及保存程序的文件夹。此方法必须在生成任何程序输出之前(在任何机器人运动或其他指令之前)调用。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>progname</strong>（<em>str</em>-程序名称</p></li> <li><p><strong>文件夹</strong>（<em>str</em>) -文件夹保存程序，留空使用默认的程序文件夹(通常是桌面)</p></li> <li><p><strong>后处理程序</strong>（<em>str</em>) -后期处理器的名称。例如，要选择后处理器C:/RoboDK/Posts/Fanuc_RJ3.py，指定“Fanuc_RJ3.py”或简单地“Fanuc_RJ3”。</p></li> <li><p><strong>机器人</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -用于程序生成的机器人</p></li> </ul> </dd> </dl> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robolink库</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#连接到RoboDK API(如果RoboDK还没有启动，则启动它</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">使用第一个可用的机器人</span><span class="n">RDK</span><span class="o">．</span><span class="n">ProgramStart</span><span class="p">（</span><span class="s1">“Prog1”</span><span class="p">，</span><span class="s1">“C: / MyProgramFolder /”</span><span class="p">，</span><span class="s2">“ABB_RAPID_IRC5”</span><span class="p">，</span><span class="n">机器人</span><span class="p">）</span><span class="c1">为程序生成指定程序名</span><span class="c1"># RDK.setRunMode(RUNMODE_MAKE_ROBOTPROG) #冗余</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">目标</span><span class="p">）</span><span class="c1">#模拟</span><span class="o">.．.</span><span class="n">RDK</span><span class="o">．</span><span class="n">完成</span><span class="p">（）</span><span class="c1">#启动程序生成(断开API)</span></pre> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setRunMode" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setRunMode ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Finish" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">完成()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setViewPose"> <span class="sig-name descname"><span class="pre">setViewPose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">构成</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setViewPose" title="¶”>¶</一个></dt><dd><p>设置关于视图(相机/屏幕)的世界参考系的姿态</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>构成</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -项目相对于其父项的位置</p></dd></dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.ViewPose"> <span class="sig-name descname"><span class="pre">ViewPose</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.ViewPose" title="¶”>¶</一个></dt><dd><p>获得关于视图(相机/屏幕)的世界参考系的姿态</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.BuildMechanism"> <span class="sig-name descname"><span class="pre">BuildMechanism</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="pre">类型,</span><span class="pre">list_obj,</span><span class="pre">参数,</span><span class="pre">joints_build,</span><span class="pre">joints_home,</span><span class="pre">joints_senses,</span><span class="pre">joints_lim_low,</span><span class="pre">joints_lim_high,</span><span class="pre">基础=矩阵:</span><span class="pre">(4,</span><span class="pre">4）</span><span class="pre">构成(0.000,</span><span class="pre">0.000,</span><span class="pre">0.000,</span><span class="pre">0.000,</span><span class="pre">0.000,</span><span class="pre">0.000):</span><span class="pre">[[</span><span class="pre">1，</span><span class="pre">0，</span><span class="pre">0，</span><span class="pre">0</span><span class="pre">]，</span><span class="pre">［</span><span class="pre">0，</span><span class="pre">1，</span><span class="pre">0，</span><span class="pre">0</span><span class="pre">]，</span><span class="pre">［</span><span class="pre">0，</span><span class="pre">0，</span><span class="pre">1，</span><span class="pre">0</span><span class="pre">]，</span><span class="pre">［</span><span class="pre">0，</span><span class="pre">0，</span><span class="pre">0，</span><span class="pre">1</span><span class="pre">]]</span><span class="pre">，</span><span class="pre">工具=矩阵:</span><span class="pre">(4,</span><span class="pre">4）</span><span class="pre">构成(0.000,</span><span class="pre">0.000,</span><span class="pre">0.000,</span><span class="pre">0.000,</span><span class="pre">0.000,</span><span class="pre">0.000):</span><span class="pre">[[</span><span class="pre">1，</span><span class="pre">0，</span><span class="pre">0，</span><span class="pre">0</span><span class="pre">]，</span><span class="pre">［</span><span class="pre">0，</span><span class="pre">1，</span><span class="pre">0，</span><span class="pre">0</span><span class="pre">]，</span><span class="pre">［</span><span class="pre">0，</span><span class="pre">0，</span><span class="pre">1，</span><span class="pre">0</span><span class="pre">]，</span><span class="pre">［</span><span class="pre">0，</span><span class="pre">0，</span><span class="pre">0，</span><span class="pre">1</span><span class="pre">]]</span><span class="pre">，</span><span class="pre">name =“新</span><span class="pre">机器人”,</span><span class="pre">机器人=没有</span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.BuildMechanism" title="¶”>¶</一个></dt><dd><p>创建一个新的机器人或机制。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>类型</strong>（<em>int</em>) -机构类型</p></li> <li><p><strong>list_obj</strong>（<em>列表</em>) -构建机器人的对象项列表</p></li> <li><p><strong>参数</strong>（<em>列表</em>) -机器人参数的顺序与RoboDK菜单中显示的相同:Utilities-Build Mechanism or robot</p></li> <li><p><strong>list_joints_build</strong>-机器人的当前状态(关节轴)构建机器人</p></li> <li><p><strong>joints_home</strong>（<em>列表</em>) -主位置的关节(稍后可以更改)</p></li> <li><p><strong>机器人</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -站内现有机器人取代(可选)</p></li> <li><p><strong>的名字</strong>（<em>str</em>) -机器人名称</p></li> </ul> </dd> </dl> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#启动RoboDK API</span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">定义你的新机器人或机制</span><span class="c1">#示例创建一个发那科LR Mate 200iD机器人</span><span class="n">robot_name</span><span class="o">＝</span><span class="s1">发那科LR Mate 200iD</span><span class="n">自由度</span><span class="o">＝</span><span class="mi">6</span><span class="c1">定义机器人/机构的关节</span><span class="n">joints_build</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="c1">#定义机器人/机构的主位置(创建机构时的默认位置)</span><span class="c1">如果你选择“Home”，这也是机器人要去的位置</span><span class="n">joints_home</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="c1">定义机器人参数。参数必须按照它们出现的顺序提供</span><span class="c1">实用新型机械或机器人</span><span class="c1">#一些基本机制，如1轴或2轴平移/旋转轴不需要任何参数</span><span class="c1">#(移动/旋转将围绕Z轴进行)</span><span class="c1">#parameters = []</span><span class="n">参数</span><span class="o">＝</span><span class="p">［</span><span class="mi">330</span><span class="p">，</span><span class="mi">50</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">330</span><span class="p">，</span><span class="mi">35</span><span class="p">，</span><span class="mi">335</span><span class="p">，</span><span class="mi">80</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="mi">90</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">］</span><span class="c1">#定义关节感(每个轴设置为+1或-1(+1作为ABB IRB120机器人的参考)</span><span class="n">joints_senses</span><span class="o">＝</span><span class="p">［</span><span class="o">+</span><span class="mi">1</span><span class="p">，</span><span class="o">+</span><span class="mi">1</span><span class="p">，</span><span class="o">-</span><span class="mi">1</span><span class="p">，</span><span class="o">-</span><span class="mi">1</span><span class="p">，</span><span class="o">-</span><span class="mi">1</span><span class="p">，</span><span class="o">-</span><span class="mi">1</span><span class="p">］</span><span class="c1">#添加-1作为第7个索引，以考虑轴2和轴3的耦合</span><span class="c1">#关节极限(每个轴的下限)</span><span class="n">lower_limits</span><span class="o">＝</span><span class="p">［</span><span class="o">-</span><span class="mi">170</span><span class="p">，</span><span class="o">-</span><span class="mi">One hundred.</span><span class="p">，</span><span class="o">-</span><span class="mi">67</span><span class="p">，</span><span class="o">-</span><span class="mi">190</span><span class="p">，</span><span class="o">-</span><span class="mi">125</span><span class="p">，</span><span class="o">-</span><span class="mi">360</span><span class="p">］</span><span class="c1">#关节极限(每个轴的上限)</span><span class="n">upper_limits</span><span class="o">＝</span><span class="p">［</span><span class="mi">170</span><span class="p">，</span><span class="mi">145</span><span class="p">，</span><span class="mi">213</span><span class="p">，</span><span class="mi">190</span><span class="p">，</span><span class="mi">125</span><span class="p">，</span><span class="mi">360</span><span class="p">］</span><span class="c1">#基础帧姿态(通过应用基础帧转换来偏移模型)</span><span class="c1">#base_pose = xyzrpw_2_pose([0,0,0,0,0])</span><span class="c1"># Fanuc和Motoman机器人的基础框架在轴1和轴2的交点</span><span class="n">base_pose</span><span class="o">＝</span><span class="n">xyzrpw_2_pose</span><span class="p">([</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="mi">330</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">])</span><span class="c1">#工具框架姿态(通过应用工具框架转换来偏移工具法兰)</span><span class="n">tool_pose</span><span class="o">＝</span><span class="n">xyzrpw_2_pose</span><span class="p">([</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">])</span><span class="c1">#从RoboDK中检索您的所有项目(它们应该事先手动加载或使用API的RDK.AddFile()命令)</span><span class="n">list_objects</span><span class="o">＝</span><span class="p">［］</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="n">自由度</span><span class="o">+</span><span class="mi">1</span><span class="p">)：</span><span class="k">如果</span><span class="n">我</span><span class="o">= =</span><span class="mi">0</span><span class="p">：</span><span class="n">itm</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">robot_name</span><span class="o">+</span><span class="s1">“基地”</span><span class="p">，</span><span class="n">ITEM_TYPE_OBJECT</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="n">itm</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="n">robot_name</span><span class="o">+</span><span class="s1">＇＇</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">我</span><span class="p">)，</span><span class="n">ITEM_TYPE_OBJECT</span><span class="p">）</span><span class="n">list_objects</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">itm</span><span class="p">）</span><span class="c1">#创建机器人/机制</span><span class="n">new_robot</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">BuildMechanism</span><span class="p">（</span><span class="n">MAKE_ROBOT_6DOF</span><span class="p">，</span><span class="n">list_objects</span><span class="p">，</span><span class="n">参数</span><span class="p">，</span><span class="n">joints_build</span><span class="p">，</span><span class="n">joints_home</span><span class="p">，</span><span class="n">joints_senses</span><span class="p">，</span><span class="n">lower_limits</span><span class="p">，</span><span class="n">upper_limits</span><span class="p">，</span><span class="n">base_pose</span><span class="p">，</span><span class="n">tool_pose</span><span class="p">，</span><span class="n">robot_name</span><span class="p">）</span><span class="k">如果</span><span class="ow">不</span><span class="n">new_robot</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“创建机器人失败。”检查输入值。”</span><span class="p">）</span><span class="k">其他的</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“创建的机器人/机构:”</span><span class="o">+</span><span class="n">new_robot</span><span class="o">．</span><span class="n">的名字</span><span class="p">（））</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Cam2D_Add"> <span class="sig-name descname"><span class="pre">Cam2D_Add</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">item_object</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">cam_params</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">camera_item</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Cam2D_Add" title="¶”>¶</一个></dt><dd><p>打开一个模拟的2D相机视图。返回一个句柄指针，可以在使用多个模拟视图的情况下使用。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>item_object</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -用来连接摄影机的物件</p></li> <li><p><strong>cam_params</strong>（<em>str</em>-相机参数为字符串。添加一条或多条命令，示例如下。</p></li> <li><p><strong>camera_item</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -使用现有相机项修改设置并打开视图(RoboDK v5.0及更高版本支持)</p></li> </ul> </dd> </dl> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1"># API与RoboDK通信</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#关闭所有打开的2D相机视图</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Close</span><span class="p">（）</span><span class="n">camref</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">选择相机位置(参考，工具或对象)</span><span class="p">）</span><span class="c1">#camref = RDK。项（＇框架7＇，ITEM_TYPE_FRAME）</span><span class="c1">#以毫米和角度设置参数:</span><span class="c1"># FOV:视场的角度(2*atan(0.5*高度/距离)的传感器</span><span class="c1"># FOCAL_LENGTH:焦距(单位:mm</span><span class="c1"># FAR_LENGTH:最大工作距离(单位:mm)</span><span class="c1"># PIXELSIZE:像素的大小，单位为微米(假设为正方形大小)</span><span class="c1"># SIZE:窗口大小，单位为像素(固定)(宽x高)</span><span class="c1"># WINDOWFIXED:如果我们指定了大小，使窗口的大小完全相同</span><span class="c1"># WINDOWRESIZE:即使我们指定了大小</span><span class="c1"># SNAPSHOT:快照图像的大小(以像素为单位)，如果它应该不同于正常的大小(宽度x高度)。大小可以大于4k，取决于显卡支持。</span><span class="c1"># BG_COLOR:背景色(rgb颜色或命名颜色:AARRGGBB)</span><span class="c1"># LIGHT_AMBIENT:环境色(rgb颜色或命名颜色:AARRGGBB)</span><span class="c1"># LIGHT_SPECULAR:镜面颜色(rgb颜色或命名颜色:AARRGGBB)</span><span class="c1"># LIGHT_DIFFUSE:漫反射颜色(rgb颜色或命名颜色:AARRGGBB)</span><span class="c1">添加这个标志来创建一个32位的深度图(白=近，黑=远)</span><span class="c1"># GRAYSCALE:添加此标志来创建灰度图像</span><span class="c1"># NO_TASKBAR:不要将窗口添加到任务栏</span><span class="c1">#最小化:显示窗口最小化</span><span class="c1"># ALWAYS_VISIBLE:保持窗口在所有其他窗口之上</span><span class="c1"># DOCKED:将视图显示为一个停靠窗口(而不是一个单独的窗口)</span><span class="c1"># SHADER_VERTEX:顶点着色器的文件(GLSL文件)</span><span class="c1"># SHADER_FRAGMENT:文件到片段着色器(GLSL文件)</span><span class="c1">#调用Camd2D_Add的例子:</span><span class="c1">相机没有固定的窗口大小和1000毫米的长度</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">camref</span><span class="p">，</span><span class="s1">' focal_length =6 fov =32 far_length =1000'</span><span class="p">）</span><span class="c1">相机与固定窗口大小和1000毫米的长度</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">camref</span><span class="p">，</span><span class="s1">'FOCAL_LENGTH=6 FOV=32 FAR_LENGTH=1000 SIZE=640x480'</span><span class="p">）</span><span class="c1">#黑色背景相机</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">camref</span><span class="p">，</span><span class="s1">'FOCAL_LENGTH=6 FOV=32 FAR_LENGTH=1000 SIZE=640x480 BG_COLOR=黑色'</span><span class="p">）</span><span class="c1">#没有固定窗口大小和高分辨率快照的相机</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">camref</span><span class="p">，</span><span class="s1">'FOCAL_LENGTH=6 FOV=32 FAR_LENGTH=1000 SIZE=640x480'</span><span class="p">）</span><span class="c1">#深度视图:32位深度图(白=近，黑=远)</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">camref</span><span class="p">，</span><span class="s1">'FOCAL_LENGTH=6 FOV=32 FAR_LENGTH=1000 SIZE=640x480 DEPTH'</span><span class="p">）</span><span class="c1">#最小化摄像头</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">camref</span><span class="p">，</span><span class="s1">'FOCAL_LENGTH=6 FOV=32 FAR_LENGTH=1000 SIZE=640x480最小化'</span><span class="p">）</span><span class="c1">#不要在任务栏中显示相机窗口</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">camref</span><span class="p">，</span><span class="s1">'FOCAL_LENGTH=6 FOV=32 FAR_LENGTH=1000 SIZE=640x480 NO_TASKBAR'</span><span class="p">）</span><span class="c1">#自定义灯光</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">camref</span><span class="p">，</span><span class="s1">'FOCAL_LENGTH=6 FOV=32 FAR_LENGTH=1000 SIZE=640x480 BG_COLOR=黑色LIGHT_AMBIENT=红色LIGHT_DIFFUSE=#FF00FF00 LIGHT_SPECULAR=黑色'</span><span class="p">）</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">camref</span><span class="p">，</span><span class="s1">'FOCAL_LENGTH=6 FOV=32 FAR_LENGTH=600 SIZE=640x480 BG_COLOR=黑色LIGHT_AMBIENT=红色LIGHT_DIFFUSE=黑色LIGHT_SPECULAR=白色'</span><span class="p">）</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">camref</span><span class="p">，</span><span class="s1">'FOCAL_LENGTH=6 FOV=32 FAR_LENGTH=1000 SIZE=640x480 LIGHT_AMBIENT=red'</span><span class="p">）</span><span class="c1">#触发一个弹出窗口，允许用户输入一些参数</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">camref</span><span class="p">，</span><span class="s1">“弹出”</span><span class="p">）</span><span class="c1">从相机拍摄快照的示例</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Snapshot</span><span class="p">（</span><span class="n">RDK</span><span class="o">．</span><span class="n">getParam</span><span class="p">（</span><span class="s1">“PATH_OPENSTATION”</span><span class="p">）</span><span class="o">+</span><span class="s2">“/ sample_image.png”</span><span class="p">，</span><span class="n">cam_id</span><span class="p">）</span><span class="c1">#获取窗口ID的特殊命令:</span><span class="n">win_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">命令</span><span class="p">（</span><span class="s2">“CamWinID”</span><span class="p">，</span><span class="nb">str</span><span class="p">（</span><span class="n">cam_id</span><span class="p">）)</span><span class="c1">#打印(str (win_id))</span><span class="c1">#-----------------------------------------------------------------------------------</span><span class="c1">使用自定义着色器自定义灯光效果的例子</span><span class="c1">#提示:使用示例:C:/RoboDK/Library/ example - shader - customized - light .rdk</span><span class="c1">#提示:如果你需要一个固定的光源，更新shader_fragment中的变量light_Position。glsl文件</span><span class="c1">#获取到RoboDK库的路径(通常在C:/RoboDK/ library /)</span><span class="n">path_library</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">getParam</span><span class="p">（</span><span class="s2">“PATH_LIBRARY”</span><span class="p">）</span><span class="n">file_shader_fragment</span><span class="o">＝</span><span class="n">path_library</span><span class="o">+</span><span class="s1">' /宏/ Camera-Shaders / shader_fragment.glsl '</span><span class="n">file_shader_vertex</span><span class="o">＝</span><span class="n">path_library</span><span class="o">+</span><span class="s1">' /宏/ Camera-Shaders / shader_vertex.glsl '</span><span class="n">cam_id</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">Cam2D_Add</span><span class="p">（</span><span class="n">camref</span><span class="p">，</span><span class="s1">' focal_length =6 fov =32 far_length =2500 shader_fragment ='</span><span class="o">+</span><span class="n">file_shader_fragment</span><span class="o">+</span><span class="s1">“SHADER_VERTEX = '</span><span class="o">+</span><span class="n">file_shader_vertex</span><span class="p">）</span></pre> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Cam2D_Snapshot" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Cam2D_Snapshot ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Cam2D_Close" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Cam2D_Close ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Cam2D_SetParams" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Cam2D_SetParams ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Cam2D_Snapshot"> <span class="sig-name descname"><span class="pre">Cam2D_Snapshot</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">file_save_img</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">cam_handle</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">参数个数</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Cam2D_Snapshot" title="¶”>¶</一个></dt><dd><p>从模拟相机视图中获取快照，并将其保存到文件中。如果成功返回1，否则返回0。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>file_save_img</strong>（<em>str</em>) -要保存的文件路径。支持的格式包括PNG, JPEG, TIFF，…</p></li> <li><p><strong>cam_handle</strong>（<em>int</em>) -相机句柄(Cam2D_Add返回的项目)。如果相机手柄设置为None，它将拍摄完整3D视图的快照。</p></li> <li><p><strong>参数个数</strong>（<em>str</em>) -其他选项(使用“灰度”，“深度”或“颜色”来修改相机快照)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Cam2D_Add" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Cam2D_Add ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Cam2D_Close" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Cam2D_Close ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Cam2D_Close"> <span class="sig-name descname"><span class="pre">Cam2D_Close</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">cam_handle</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Cam2D_Close" title="¶”>¶</一个></dt><dd><p>如果提供了相机句柄，则关闭所有相机窗口或一个特定的相机。如果成功返回True，否则返回False。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>cam_handle</strong>（<em>int</em>) -摄像头句柄(Cam2D_Add返回的指针)。为0关闭所有模拟视图。</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Cam2D_Add" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Cam2D_Add ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Cam2D_Snapshot" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Cam2D_Snapshot ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Cam2D_SetParams"> <span class="sig-name descname"><span class="pre">Cam2D_SetParams</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">参数个数</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">cam_handle</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Cam2D_SetParams" title="¶”>¶</一个></dt><dd><p>设置模拟摄像机参数。如果成功返回1，否则返回0。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>参数个数</strong>（<em>str</em>)—根据Cam2D_Add支持的参数进行参数设置</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Cam2D_Add" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Cam2D_Add ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Spray_Add"> <span class="sig-name descname"><span class="pre">Spray_Add</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">item_tool</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">item_object</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">参数个数</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">点</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">几何</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Spray_Add" title="¶”>¶</一个></dt><dd><p>添加一个模拟喷枪，让粒子投射到零件上。这对于模拟应用非常有用，例如:电弧焊、点焊、3D打印、喷漆、检查或机器人加工以验证轨迹。</p><p>脚本ArcStart, ArcEnd和WeldOn和SpindleOn的行为类似，唯一的区别是默认行为。该行为模拟发那克弧焊，并在使用自定义后处理器时触发适当的输出。</p><p>选择“ESC”手动清除跟踪。</p><p>使用Spray_Add的示例脚本<strong>图书馆/宏</strong>：</p><ul class="simple"> <li><p>SpindleOn / SpindleOff:打开/关闭跟踪</p></li> <li><p>ArcOn / ArcOff:打开/关闭跟踪</p></li> <li><p>SprayOn / SprayOff:模拟给定工作区容量的喷雾(用于喷涂)</p></li> <li><p>WeldOn / WeldOff:支持多焊枪</p></li> </ul> <p>例子:</p><ul class="simple"> <li><p>SpindleOn(2):用蓝色显示跟踪</p></li> <li><p>SpindleOn(红色):用红色显示跟踪</p></li> <li><p>SpindleOff:关闭跟踪</p></li> <li><p>SpindleOn(绿色，2.5):绿色轨迹，半径为2.5 mm</p></li> </ul> <img alt="_images / TraceOn.png”src="//www.sinclairbody.com/doc/en/PythonAPI/_images/TraceOn.png"> <dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>参数个数</strong>（<em>str</em>-指定模拟粒子行为的字符串。字符串可以包含以下一个或多个命令(用空格分隔)。查看允许的参数选项。</p></li> <li><p><strong>点</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -以点列表的形式提供卷，如示例宏spray .py中所述</p></li> <li><p><strong>几何</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -(可选)提供描述三角形的点列表，以定义特定的粒子几何。使用此选项代替PARTICLE命令。</p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="id16"> <div class="code-block-caption"> <span class="caption-text">允许的参数选项</span> <a class="headerlink" href="#id16" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">一步</span><span class="o">＝</span><span class="n">ax = b</span><span class="p">：</span><span class="n">定义了</span><span class="n">的</span><span class="n">网格</span><span class="n">来</span><span class="n">是</span><span class="n">预计</span><span class="mi">1</span><span class="n">x1</span><span class="n">意味着</span><span class="n">只有</span><span class="n">一个</span><span class="n">行</span><span class="n">的</span><span class="n">粒子</span><span class="n">投影</span><span class="p">（</span><span class="k">为</span><span class="n">例子</span><span class="p">，</span><span class="k">为</span><span class="n">焊接</span><span class="p">）</span><span class="n">粒子</span><span class="p">：</span><span class="n">定义了</span><span class="n">的</span><span class="n">形状</span><span class="ow">而且</span><span class="n">大小</span><span class="n">的</span><span class="n">粒子</span><span class="p">（</span><span class="n">球</span><span class="ow">或</span><span class="n">粒子</span><span class="p">)，</span><span class="n">除非</span><span class="n">一个</span><span class="n">具体的</span><span class="n">几何</span><span class="ow">是</span><span class="n">提供</span><span class="p">：</span><span class="n">一个</span><span class="o">-</span><span class="n">球</span><span class="p">（</span><span class="n">半径</span><span class="p">，</span><span class="n">方面</span><span class="p">）</span><span class="n">b</span><span class="o">-</span><span class="n">球</span><span class="p">（</span><span class="n">半径</span><span class="p">，</span><span class="n">方面</span><span class="p">，</span><span class="n">scalex</span><span class="p">，</span><span class="n">写入scaley</span><span class="p">，</span><span class="n">scalez</span><span class="p">）</span><span class="n">b</span><span class="o">-</span><span class="n">多维数据集</span><span class="p">（</span><span class="n">sizex</span><span class="p">，</span><span class="n">sizey</span><span class="p">，</span><span class="n">sizez</span><span class="p">）</span><span class="n">兰德</span><span class="o">＝</span><span class="n">因素</span><span class="p">：</span><span class="n">定义了</span><span class="n">一个</span><span class="n">随机</span><span class="n">因素</span><span class="n">因素</span><span class="mi">0</span><span class="n">意味着</span><span class="n">那</span><span class="n">的</span><span class="n">粒子</span><span class="n">是</span><span class="ow">不</span><span class="n">沉积</span><span class="n">随机</span><span class="n">ELLYPSE</span><span class="p">：</span><span class="n">定义了</span><span class="n">的</span><span class="n">体积</span><span class="k">作为</span><span class="n">一个</span><span class="n">ellypse</span><span class="p">（</span><span class="n">默认的</span><span class="p">）</span><span class="n">矩形</span><span class="p">：</span><span class="n">定义了</span><span class="n">的</span><span class="n">体积</span><span class="k">作为</span><span class="n">一个</span><span class="n">矩形</span><span class="n">项目</span><span class="p">：</span><span class="n">项目</span><span class="n">的</span><span class="n">粒子</span><span class="n">来</span><span class="n">的</span><span class="n">表面</span><span class="p">（</span><span class="n">默认的</span><span class="p">）</span><span class="p">（</span><span class="k">为</span><span class="n">焊接</span><span class="p">，</span><span class="n">绘画</span><span class="ow">或</span><span class="n">扫描</span><span class="p">）</span><span class="n">NO_PROJECT</span><span class="p">：</span><span class="n">做</span><span class="ow">不</span><span class="n">项目</span><span class="n">的</span><span class="n">粒子</span><span class="n">来</span><span class="n">的</span><span class="n">表面</span><span class="p">（</span><span class="k">为</span><span class="n">例子</span><span class="p">，</span><span class="k">为</span><span class="mi">3.</span><span class="n">D</span><span class="n">印刷</span><span class="p">）</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Spray_SetState" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Spray_SetState ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Spray_GetStats" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Spray_GetStats ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Spray_Clear" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Spray_Clear ()</span></code></a></p> </div> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">工具</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#自动检测活动工具</span><span class="n">obj</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#自动检测活动参考系中的对象</span><span class="n">options_command</span><span class="o">＝</span><span class="s2">" ellipse项目粒子=球(4,8,1,1,0.5)步骤=8x8兰德=2"</span><span class="c1">#定义椭圆体积为p0, pA, pB, colorRGBA(近和远)，单位为mm</span><span class="c1">必须提供相对于TCP的#坐标</span><span class="n">close_p0</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="mi">200</span><span class="p">］</span><span class="c1"># xyz，单位mm:圆锥形椭圆的中心(边1)</span><span class="n">close_pA</span><span class="o">＝</span><span class="p">［</span><span class="mi">5</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="o">-</span><span class="mi">200</span><span class="p">］</span><span class="c1"># xyz(单位:mm):锥形椭圆的第一个顶点(边1)</span><span class="n">close_pB</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">10</span><span class="p">，</span><span class="o">-</span><span class="mi">200</span><span class="p">］</span><span class="c1"># xyz(单位:mm):圆锥形椭圆的第二个顶点(边1)</span><span class="n">close_color</span><span class="o">＝</span><span class="p">［</span><span class="mi">1</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">］</span><span class="c1"># rgba (0-1)</span><span class="n">far_p0</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">50</span><span class="p">］</span><span class="c1"># xyz毫米:圆锥形椭圆的中心(侧面2)</span><span class="n">far_pA</span><span class="o">＝</span><span class="p">［</span><span class="mi">60</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">50</span><span class="p">］</span><span class="c1"># xyz(单位:mm):圆锥形椭圆的第一个顶点(边2)</span><span class="n">far_pB</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">120</span><span class="p">，</span><span class="mi">50</span><span class="p">］</span><span class="c1"># xyz(单位:mm):圆锥形椭圆的第二个顶点(边2)</span><span class="n">far_color</span><span class="o">＝</span><span class="p">［</span><span class="mi">0</span><span class="p">，</span><span class="mi">0</span><span class="p">，</span><span class="mi">1</span><span class="p">，</span><span class="mf">0.2</span><span class="p">］</span><span class="c1"># rgba (0-1)</span><span class="n">close_param</span><span class="o">＝</span><span class="n">close_p0</span><span class="o">+</span><span class="n">close_pA</span><span class="o">+</span><span class="n">close_pB</span><span class="o">+</span><span class="n">close_color</span><span class="n">far_param</span><span class="o">＝</span><span class="n">far_p0</span><span class="o">+</span><span class="n">far_pA</span><span class="o">+</span><span class="n">far_pB</span><span class="o">+</span><span class="n">far_color</span><span class="n">体积</span><span class="o">＝</span><span class="n">robomath</span><span class="o">．</span><span class="n">垫</span><span class="p">([</span><span class="n">close_param</span><span class="p">，</span><span class="n">far_param</span><span class="p">])</span><span class="o">．</span><span class="n">tr</span><span class="p">（）</span><span class="n">RDK</span><span class="o">．</span><span class="n">Spray_Add</span><span class="p">（</span><span class="n">工具</span><span class="p">，</span><span class="n">obj</span><span class="p">，</span><span class="n">options_command</span><span class="p">，</span><span class="n">体积</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">Spray_SetState</span><span class="p">（</span><span class="n">SPRAY_ON</span><span class="p">）</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Spray_SetState"> <span class="sig-name descname"><span class="pre">Spray_SetState</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">状态</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">id_spray</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Spray_SetState" title="¶”>¶</一个></dt><dd><p>设置模拟喷枪的状态(开启或关闭)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>状态</strong>（<em>int</em>) -设置为“ON”或“OFF”。使用定义的常量:SPRAY_*</p></li> <li><p><strong>id_spray</strong>（<em>int</em>) -喷涂句柄(Spray_Add返回的指针)。保留为-1以适用于所有模拟喷雾。</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Spray_Add" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Spray_Add ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Spray_GetStats" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Spray_GetStats ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Spray_Clear" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Spray_Clear ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Spray_GetStats"> <span class="sig-name descname"><span class="pre">Spray_GetStats</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">id_spray</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Spray_GetStats" title="¶”>¶</一个></dt><dd><p>获取所有模拟喷枪或特定喷枪的统计信息。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>id_spray</strong>（<em>int</em>) -喷涂句柄(Spray_Add返回的指针)。保留为-1以适用于所有模拟喷雾。</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Spray_Add" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Spray_Add ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Spray_SetState" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Spray_SetState ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Spray_Clear" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Spray_Clear ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Spray_Clear"> <span class="sig-name descname"><span class="pre">Spray_Clear</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">id_spray</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Spray_Clear" title="¶”>¶</一个></dt><dd><p>停止模拟喷枪。这将清除模拟粒子。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>id_spray</strong>（<em>int</em>) -喷涂句柄(Spray_Add返回的指针)。保留默认值-1应用于所有模拟喷雾。</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Spray_Add" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Spray_Add ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Spray_SetState" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Spray_SetState ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Spray_GetStats" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Spray_GetStats ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.License"> <span class="sig-name descname"><span class="pre">许可证</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.License" title="¶”>¶</一个></dt><dd><p>获取许可证字符串</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Selection"> <span class="sig-name descname"><span class="pre">选择</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Selection" title="¶”>¶</一个></dt><dd><p>返回当前选定项的列表</p><dl class="field-list simple"> <dt class="field-odd"> 返回</dt><dd类＝”field-odd"> <p>项目清单</p></dd><dt类＝”field-even"> 返回类型</dt><dd类＝”field-even"> <p>的列表<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setSelection"> <span class="sig-name descname"><span class="pre">setSelection</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">list_items</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">［］</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setSelection" title="¶”>¶</一个></dt><dd><p>在树中设置选择</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>list_items</strong>（<em>列表</em>) -要设置为选定的项目列表</p></dd></dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.MergeItems"> <span class="sig-name descname"><span class="pre">MergeItems</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">list_items</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">［］</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.MergeItems" title="¶”>¶</一个></dt><dd><p>将多个对象项合并为一个。源对象不会被删除，而是创建一个新对象。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>list_items</strong>（<em>列表</em>) -要设置为选定的项目列表</p></dd><dt类＝”field-even"> 返回</dt><dd类＝”field-even"> <p>创建新对象</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p><a class="reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.Popup_ISO9283_CubeProgram"> <span class="sig-name descname"><span class="pre">Popup_ISO9283_CubeProgram</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">机器人</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.Popup_ISO9283_CubeProgram" title="¶”>¶</一个></dt><dd><p>弹出菜单，创建ISO9283立方体程序(实用程序-创建立方体ISO)</p><dl class="field-list simple"> <dt class="field-odd"> 返回</dt><dd类＝”field-odd"> <p>创建项目。程序无效。</p></dd><dt类＝”field-even"> 返回类型</dt><dd类＝”field-even"> <p><a class="reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.setInteractiveMode"> <span class="sig-name descname"><span class="pre">setInteractiveMode</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">mode_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">5</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">default_ref_flags</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">custom_objects</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">custom_ref_flags</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.setInteractiveMode" title="¶”>¶</一个></dt><dd><p>设置交互模式，定义RoboDK 3D视图中导航和选择项目时的行为。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>mode_type</strong>（<em>int</em>模式类型定义了当3D视图被选中时发生什么动作(选择对象，平移，旋转，缩放，移动对象，…)</p></li> <li><p><strong>default_ref_flags</strong>（<em>int</em>当一个运动被指定时，我们可以提供我们默认允许的关于坐标系统的运动(设置适当的标志)</p></li> <li><p><strong>custom_objects</strong>（<em>列表</em>提供一个可选项目列表来定制这些特定项目的移动行为(重要的是:custom_ref_flags的长度必须匹配)</p></li> <li><p><strong>custom_ref_flags</strong>（<em>列表</em>-提供一个匹配的标志列表，以自定义特定项目的移动行为</p></li> </ul> </dd> </dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.CursorXYZ"> <span class="sig-name descname"><span class="pre">CursorXYZ</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">x_coord</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">y_coord</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.CursorXYZ" title="¶”>¶</一个></dt><dd><p>返回光标的位置为XYZ坐标(默认情况下)，或窗口的一组给定2D坐标的3D位置(从左上角开始的x和y坐标以像素为单位)返回的XYZ坐标是相对于RoboDK站给出的(绝对参考)。如果没有提供坐标，则检索游标的当前位置。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>x_coord</strong>（<em>int</em>) -以像素为单位的X坐标</p></li> <li><p><strong>y_coord</strong>（<em>int</em>) -以像素为单位的Y坐标</p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="id17"> <div class="code-block-caption"> <span class="caption-text">检索鼠标光标下的3D点的示例</span> <a class="headerlink" href="#id17" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">xyz</span><span class="p">，</span><span class="n">项</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">CursorXYZ</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="nb">str</span><span class="p">（</span><span class="n">项</span><span class="p">）</span><span class="o">+</span><span class="s2">”“</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">xyz</span><span class="p">）)</span></pre> </div> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.GetPoints"> <span class="sig-name descname"><span class="pre">GetPoints</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">feature_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">10</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.GetPoints" title="¶”>¶</一个></dt><dd><p>检索鼠标光标下的对象。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>feature_type</strong>（<em>int</em>-设置为FEATURE_HOVER_OBJECT_MESH来检索鼠标光标下的对象，所选的特征和网格，或者如果你不需要网格(更快)，可以设置为FEATURE_HOVER_OBJECT。</p></dd><dt类＝”field-even"> 返回</dt><dd类＝”field-even"> <p>对象下的鼠标光标，选定的特征，特征id，点列表和描述</p></dd></dl> <div class="highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">无限循环打印鼠标光标下的项目</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="nb">对象</span><span class="p">，</span><span class="n">feature_type</span><span class="p">，</span><span class="n">feature_id</span><span class="p">，</span><span class="n">feature_name</span><span class="p">，</span><span class="n">点</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">GetPoints</span><span class="p">（</span><span class="n">FEATURE_HOVER_OBJECT</span><span class="p">）</span><span class="c1">#更快，如果你不需要网格</span><span class="c1">#对象，feature_type, feature_id, feature_name, points = RDK.GetPoints(FEATURE_HOVER_OBJECT_MESH)</span><span class="k">如果</span><span class="nb">对象</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“鼠标在:”</span><span class="o">+</span><span class="nb">对象</span><span class="o">．</span><span class="n">的名字</span><span class="p">（）</span><span class="o">+</span><span class="s2">”:“</span><span class="o">+</span><span class="n">feature_name</span><span class="o">+</span><span class="s2">“类型/ id = "</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">feature_type</span><span class="p">）</span><span class="o">+</span><span class="s2">“/”</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">feature_id</span><span class="p">）)</span><span class="c1">#打印(分)</span><span class="c1"># RDK.Selection() #返回所选内容</span><span class="k">如果</span><span class="nb">对象</span><span class="ow">在</span><span class="n">RDK</span><span class="o">．</span><span class="n">选择</span><span class="p">():</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“对象已选中!”</span><span class="p">）</span><span class="c1">#RDK.setSelection([]) #清除选择</span><span class="k">其他的</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">"鼠标光标下什么都没有"</span><span class="p">）</span><span class="n">暂停</span><span class="p">（</span><span class="mf">0．1</span><span class="p">）</span></pre> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.SelectedFeature" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SelectedFeature ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.PluginLoad"> <span class="sig-name descname"><span class="pre">PluginLoad</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">plugin_name</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">负载</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.PluginLoad" title="¶”>¶</一个></dt><dd><p>加载或卸载指定的插件(DLL, dylib或SO文件的路径)。如果插件已经加载，它将卸载插件并重新加载。传递一个空的plugin_name以重新加载所有插件。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>plugin_name</strong>（<em>str</em>-插件名称或路径(如果不在默认目录下)。</p></li> <li><p><strong>负载</strong>（<em>int</em>加载插件(1/默认)或卸载插件(0)</p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="id18"> <div class="code-block-caption"> <span class="caption-text">加载插件的示例</span> <a class="headerlink" href="#id18" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="n">RDK</span><span class="o">．</span><span class="n">PluginLoad</span><span class="p">（</span><span class="s2">“C: / RoboDK / bin /插件/ yourplugin.dll”</span><span class="p">）</span></pre> </div> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.PluginCommand"> <span class="sig-name descname"><span class="pre">PluginCommand</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">plugin_name</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">plugin_command</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">价值</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.PluginCommand" title="¶”>¶</一个></dt><dd><p>发送一个特定的命令到RoboDK插件。命令和值(可选)必须由插件处理。它以字符串的形式返回结果。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>plugin_name</strong>（<em>str</em>插件名称必须与RoboDK插件中的PluginName()实现相匹配。</p></li> <li><p><strong>命令</strong>（<em>str</em>-由你的插件处理的特定命令</p></li> <li><p><strong>价值</strong>（<em>str</em>-由插件处理的特定值(可选)</p></li> </ul> </dd> </dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Robolink.EmbedWindow"> <span class="sig-name descname"><span class="pre">EmbedWindow</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">window_name</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">docked_name</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">size_w</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">size_h</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">pid</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">area_add</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">area_allowed</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">15</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">超时</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">500</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Robolink.EmbedWindow" title="¶”>¶</一个></dt><dd><p>在RoboDK中嵌入一个来自单独进程的窗口作为停靠窗口。如果成功返回True。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>window_name</strong>（<em>str</em>) -当前打开的窗口名称。确保窗口名称是唯一的，并且它是一个顶级窗口</p></li> <li><p><strong>docked_name</strong>（<em>str</em>RoboDK中停靠选项卡的名称(可选，如果与窗口名称不同)</p></li> <li><p><strong>pid</strong>（<em>int</em>-进程ID(可选)</p></li> <li><p><strong>area_add</strong>（<em>int</em>) -设置为1(右)或2(左)(默认为1)</p></li> <li><p><strong>area_allowed</strong>（<em>int</em>) -允许的区域(默认为15:没有限制)</p></li> <li><p><strong>超时</strong>（<em>int</em>) -中止尝试嵌入窗口的超时</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p>使用静态函数:<一个类＝”reference internal" href="#robodk.robolink.EmbedWindow" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">EmbedWindow ()</span></code></a>(这个函数通常应该在一个单独的线程上调用)</p></d我v></dd> </dl> </dd> </dl> <dl class="py class"> <dt class="sig sig-object py" id="robodk.robolink.Item"> <em class="property"><span class="pre">类</span><span class="w"></span></em> <span class="sig-prename descclassname"><span class="pre">robodk.robolink。</span></span> <span class="sig-name descname"><span class="pre">项</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">链接</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">ptr_item</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">itemtype</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item" title="¶”>¶</一个></dt><dd><p>Item类表示RoboDK站中的一个项目。物品可以是机器人、框架、工具、物体、目标……任何在站树中可见的物品。一个项也可以被视为一个节点，其他项可以附加到该节点(子项)。每个项都有一个父项/节点，并且可以有一个或多个子项/节点。</p><p>RoboDK由生成的自动创建和检索项目<一个类＝”reference internal" href="#robodk.robolink.Robolink" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">Robolink</span></code></a>方法包括<一个类＝”reference internal" href="#robodk.robolink.Robolink.Item" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">项目()</span></code></a>而且<一个类＝”reference internal" href="#robodk.robolink.Robolink.ItemUserPick" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ItemUserPick ()</span></code></a></p> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Item" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">项目()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.ItemUserPick" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ItemUserPick ()</span></code></a></p> </div> <div class="highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robolink库</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#连接到RoboDK API(如果RoboDK还没有启动，则会启动</span><span class="n">工具</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“工具”</span><span class="p">）</span><span class="c1">#获取一个名为Tool的物品(名字在RoboDK站树中)</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">#获取第一个可用的机器人</span><span class="n">目标</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“目标1”</span><span class="p">，</span><span class="n">ITEM_TYPE_TARGET</span><span class="p">）</span><span class="c1">#获得一个名为“目标1”的目标</span><span class="n">框架</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">“选择参考系”</span><span class="p">，</span><span class="n">ITEM_TYPE_FRAME</span><span class="p">）</span><span class="c1">#提示用户选择参考系</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseFrame</span><span class="p">（</span><span class="n">框架</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">setPoseTool</span><span class="p">（</span><span class="n">工具</span><span class="p">）</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">目标</span><span class="p">）</span><span class="c1">使用选定的参考系移动机器人到目标</span></pre> </div> </div> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.equals"> <span class="sig-name descname"><span class="pre">=</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">第二条</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.equals" title="¶”>¶</一个></dt><dd><p>如果某项与此项相同，则返回True<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> <dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>第二条</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -供比较的项目</p></dd></dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.RDK"> <span class="sig-name descname"><span class="pre">RDK</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.RDK" title="¶”>¶</一个></dt><dd><p>返回RoboDK链接Robolink()。对于多线程应用程序，使用不同的链接(Robolink)是很重要的。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Finish" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">完成()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Type"> <span class="sig-name descname"><span class="pre">类型</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Type" title="¶”>¶</一个></dt><dd><p>返回项目的类型(机器人，对象，工具，框架，…)提示:将返回值与ITEM_TYPE_*变量进行比较</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Item" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">项目()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Copy"> <span class="sig-name descname"><span class="pre">复制</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">copy_children</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Copy" title="¶”>¶</一个></dt><dd><p>复制项目到剪贴板(与Ctrl+C相同)。与Paste()一起使用可以复制项目。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>copy_children</strong>（<em>保龄球</em>) -设置为false以防止复制附加到此项的所有项。</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Copy" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">副本()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Paste" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">粘贴()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Paste"> <span class="sig-name descname"><span class="pre">粘贴</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Paste" title="¶”>¶</一个></dt><dd><p>粘贴复制的<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>从剪贴板作为这个项目的子项目(与Ctrl+V相同)返回新创建的项目(粘贴)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Copy" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">副本()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Copy" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">副本()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Paste" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">粘贴()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.AddFile"> <span class="sig-name descname"><span class="pre">AddFile</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">文件名</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.AddFile" title="¶”>¶</一个></dt><dd><p>添加附加到此对象的对象</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>文件名</strong>（<em>str</em>) -文件路径</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddFile" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFile ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Save" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Save ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Save"> <span class="sig-name descname"><span class="pre">保存</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">文件名</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Save" title="¶”>¶</一个></dt><dd><p>将站点或对象保存到文件中</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>文件名</strong>（<em>str</em>) -文件保存。使用*。rdk的名字为RoboDK站s, *.stl file for objects, *.robot file for robots, etc.</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddFile" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFile ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.AddFile" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFile ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Collision"> <span class="sig-name descname"><span class="pre">碰撞</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">item_check</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Collision" title="¶”>¶</一个></dt><dd><p>如果此项与另一项处于冲突状态，则返回True<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>，否则返回False。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>item_check</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -以检查碰撞情况</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Collision" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">碰撞()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.IsInside"> <span class="sig-name descname"><span class="pre">IsInside</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">对象</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.IsInside" title="¶”>¶</一个></dt><dd><p>如果对象在提供的对象中，则返回True</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>对象</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -检查对象</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.IsInside" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">IsInside ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.AddGeometry"> <span class="sig-name descname"><span class="pre">AddGeometry</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">fromitem</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">构成</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.AddGeometry" title="¶”>¶</一个></dt><dd><p>从物件中复制几何体，将其添加到相对于此物件的给定位置(姿态)。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Delete"> <span class="sig-name descname"><span class="pre">删除</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Delete" title="¶”>¶</一个></dt><dd><p>从站点中删除此项目及其所有子项目。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddFile" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFile ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Item" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">项目()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Valid"> <span class="sig-name descname"><span class="pre">有效的</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">check_deleted</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Valid" title="¶”>¶</一个></dt><dd><p>检查项目是否有效。如果项有效则返回True，如果项无效则返回False。无效的项将由不成功的函数调用返回(错误的名称或因为项被删除)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>check_deleted</strong>（<em>保龄球</em>) -检查该项目是否在RoboDK中删除。</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Item" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">项目()</span></code></a></p> </div> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robolink库</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#连接到RoboDK API(如果RoboDK还没有启动，则启动它</span><span class="n">工具</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“工具”</span><span class="p">）</span><span class="c1">#检索一个名为tool的项目</span><span class="k">如果</span><span class="ow">不</span><span class="n">工具</span><span class="o">．</span><span class="n">有效的</span><span class="p">():</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“工具项不存在!”</span><span class="p">）</span><span class="n">辞职</span><span class="p">（）</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setParent"> <span class="sig-name descname"><span class="pre">setParent</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">父</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setParent" title="¶”>¶</一个></dt><dd><p>将项目附加到一个新的父对象，同时保持与其父对象的相对位置。绝对位置改变。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>父</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -父项以附加项目</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setParentStatic" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParentStatic ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setParentStatic"> <span class="sig-name descname"><span class="pre">setParentStatic</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">父</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setParentStatic" title="¶”>¶</一个></dt><dd><p>将项目附加到另一个父节点，同时保持当前站中的绝对位置。此项与其父项之间的关系被更改为保持绝对位置。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>父</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -父项以附加项目</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setParent" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParent ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.AttachClosest"> <span class="sig-name descname"><span class="pre">AttachClosest</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">关键字</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">tolerance_mm</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">list_objects</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">［］</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.AttachClosest" title="¶”>¶</一个></dt><dd><p>把最近的物体固定在工具上。返回所附加的项。使用item.Valid()检查是否有对象附加到工具。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>关键字</strong>（<em>str</em>) -一个对象需要的关键字是可抓取的(留空考虑所有对象)</p></li> <li><p><strong>tolerance_mm</strong>（<em>浮动</em>) -使用(最多)考虑抓取对象的距离公差。最近的物体将被附加。在工具-选项-常规选项卡中，您可以选择检查TCP和对象形状之间的对象距离(而不是默认的TCP vs.对象位置)。</p></li> <li><p><strong>list_objects</strong>（<em>列表</em>) -考虑抓取的候选对象列表(提供关键字会进一步限制选择)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setParentStatic" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParentStatic ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.DetachClosest"> <span class="sig-name descname"><span class="pre">DetachClosest</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">父</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.DetachClosest" title="¶”>¶</一个></dt><dd><p>分离连接到该工具的最近对象(参见:setParentStatic)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>父</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -要附加的新父项，例如参考框架(可选)。如果没有提供，工具持有的项目将被放置在站点根目录下。</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setParentStatic" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParentStatic ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.DetachAll"> <span class="sig-name descname"><span class="pre">DetachAll</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">父</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.DetachAll" title="¶”>¶</一个></dt><dd><p>分离附加到工具的任何对象。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>父</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -要附加的新父项，例如参考框架(可选)。如果没有提供，工具持有的项目将被放置在站点根目录下。</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setParentStatic" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParentStatic ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Parent"> <span class="sig-name descname"><span class="pre">父</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Parent" title="¶”>¶</一个></dt><dd><p>返回该项的父项(<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>）</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Childs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">蔡尔兹()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Childs"> <span class="sig-name descname"><span class="pre">蔡尔兹</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Childs" title="¶”>¶</一个></dt><dd><p>返回子元素的列表(list of<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>)附在此项目上。例外情况下，如果在一个程序上调用Childs，它将返回该程序调用的子程序列表。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Parent" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">父()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Visible"> <span class="sig-name descname"><span class="pre">可见</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Visible" title="¶”>¶</一个></dt><dd><p>如果项目可见，则返回1，否则返回0。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setVisible" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setVisible ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setVisible"> <span class="sig-name descname"><span class="pre">setVisible</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">可见</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">visible_frame</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setVisible" title="¶”>¶</一个></dt><dd><p>设置项目可见性。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>可见</strong>（<em>保龄球</em>将对象设置为可见(1/True)或不可见(0/False)</p></li> <li><p><strong>visible_frame</strong>（<em>保龄球</em>-设置对象参考系为可见(1/True)或不可见(0/False)。也可以提供标志来控制每个机器人链接的可见性(仅针对机器人项目)。当项目是机器人时，这个变量可以使用合适的标志指定机器人的可见性(如示例所示)。</p></li> </ul> </dd> </dl> <p>注意:在程序上使用setVisible来设置“显示路径”设置。</p><p>例子:</p><d我v类＝”literal-block-wrapper docutils container" id="id19"> <div class="code-block-caption"> <span class="caption-text">改变机器人的可见性</span> <a class="headerlink" href="#id19" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">找回机器人(第一个可用的机器人)</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">#显示默认设置的机器人:</span><span class="n">机器人</span><span class="o">．</span><span class="n">setVisible</span><span class="p">（</span><span class="kc">真正的</span><span class="p">，</span><span class="n">VISIBLE_ROBOT_DEFAULT</span><span class="p">）</span><span class="c1">#显示机器人并隐藏所有引用:</span><span class="n">机器人</span><span class="o">．</span><span class="n">setVisible</span><span class="p">（</span><span class="mi">1</span><span class="p">，</span><span class="n">VISIBLE_ROBOT_DEFAULT</span><span class="ow">而且</span><span class="ow">不</span><span class="n">VISIBLE_ROBOT_ALL_REFS</span><span class="p">）</span><span class="c1">#只显示引用(隐藏机器人):</span><span class="n">机器人</span><span class="o">．</span><span class="n">setVisible</span><span class="p">（</span><span class="mi">1</span><span class="p">，</span><span class="n">VISIBLE_ROBOT_ALL_REFS</span><span class="p">）</span></pre> </div> </div> </div> <div class="literal-block-wrapper docutils container" id="id20"> <div class="code-block-caption"> <span class="caption-text">可用的帧标志</span> <a class="headerlink" href="#id20" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#对象的默认值</span><span class="n">VISIBLE_REFERENCE_DEFAULT</span><span class="o">＝</span><span class="o">-</span><span class="mi">1</span><span class="n">VISIBLE_REFERENCE_ON</span><span class="o">＝</span><span class="mi">1</span><span class="c1">仅适用于对象和参考系</span><span class="n">VISIBLE_REFERENCE_OFF</span><span class="o">＝</span><span class="mi">0</span><span class="c1">仅适用于对象和参考系</span><span class="c1">#可用于设置机器人可见性的标志</span><span class="n">VISIBLE_ROBOT_NONE</span><span class="o">＝</span><span class="mi">0</span><span class="n">VISIBLE_ROBOT_FLANGE</span><span class="o">＝</span><span class="mh">0 x01</span><span class="n">VISIBLE_ROBOT_AXIS_Base_3D</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">1</span><span class="n">VISIBLE_ROBOT_AXIS_Base_REF</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">2</span><span class="n">VISIBLE_ROBOT_AXIS_1_3D</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">3.</span><span class="n">VISIBLE_ROBOT_AXIS_1_REF</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">4</span><span class="n">VISIBLE_ROBOT_AXIS_2_3D</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">5</span><span class="n">VISIBLE_ROBOT_AXIS_2_REF</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">6</span><span class="n">VISIBLE_ROBOT_AXIS_3_3D</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">7</span><span class="n">VISIBLE_ROBOT_AXIS_3_REF</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">8</span><span class="n">VISIBLE_ROBOT_AXIS_4_3D</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">9</span><span class="n">VISIBLE_ROBOT_AXIS_4_REF</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">10</span><span class="n">VISIBLE_ROBOT_AXIS_5_3D</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">11</span><span class="n">VISIBLE_ROBOT_AXIS_5_REF</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">12</span><span class="n">VISIBLE_ROBOT_AXIS_6_3D</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">13</span><span class="n">VISIBLE_ROBOT_AXIS_6_REF</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">14</span><span class="n">VISIBLE_ROBOT_AXIS_7_3D</span><span class="o">＝</span><span class="mh">0 x01</span><span class="o"><<</span><span class="mi">15</span><span class="n">VISIBLE_ROBOT_AXIS_7_REF</span><span class="o">＝</span><span class="mh">0 x02</span><span class="o"><<</span><span class="mi">16</span><span class="n">VISIBLE_ROBOT_DEFAULT</span><span class="o">＝</span><span class="mh">0 x2aaaaaab</span><span class="n">VISIBLE_ROBOT_ALL</span><span class="o">＝</span><span class="mh">0 x7fffffff</span><span class="n">VISIBLE_ROBOT_ALL_REFS</span><span class="o">＝</span><span class="mh">0 x15555555</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Visible" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">可见()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Name"> <span class="sig-name descname"><span class="pre">的名字</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Name" title="¶”>¶</一个></dt><dd><p>返回项目名称。项目的名称始终显示在RoboDK站树中。以字符串形式返回名称(str)</p><dl class="field-list simple"> <dt class="field-odd"> 返回</dt><dd类＝”field-odd"> <p>新项目名称</p></dd><dt类＝”field-even"> 返回类型</dt><dd类＝”field-even"> <p>str</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setName" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setName ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setName"> <span class="sig-name descname"><span class="pre">setName</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">的名字</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setName" title="¶”>¶</一个></dt><dd><p>设置项目的名称。项目的名称将显示在站点树中。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>的名字</strong>（<em>str</em>) -新的项目名称</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Name" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">名称()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setValue"> <span class="sig-name descname"><span class="pre">setValue</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">varname</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">价值</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setValue" title="¶”>¶</一个></dt><dd><p>将特定属性名设置为给定值。这是为内部目的和将来的兼容性保留的。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>varname</strong>（<em>str</em>) -物业名称</p></li> <li><p><strong>价值</strong>（<em>str</em>) -物业价值</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.Command" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">命令()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParam ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setPose"> <span class="sig-name descname"><span class="pre">setPose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">构成</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setPose" title="¶”>¶</一个></dt><dd><p>设置项目相对于它的父项目(它附加到的项目)的位置(姿态)，例如，一个对象、框架或目标相对于它的父参考框架的位置。</p><p>对于机器人项目，setPose将使用活动工具相对于活动引用移动机器人关节以达到姿态目标。setPose对工具项没有影响，但是，它会修改相关对象相对于其父对象的姿态(这只在工具转换为对象时可见)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>构成</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -项目相对于其父项的位置</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">造成()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.PoseAbs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseAbs ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPoseAbs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseAbs ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseTool ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPoseFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseFrame ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Item" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">项目()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Pose"> <span class="sig-name descname"><span class="pre">构成</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Pose" title="¶”>¶</一个></dt><dd><p>返回一个对象、目标或参考系的相对姿态。例如，一个对象、目标或参考系相对于其父(它在树中附加的项)的位置。对于机器人项目，这个函数返回活动工具相对于活动引用的姿态。它返回的姿态为<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>．</p><p>提示:使用robodk模块中的Pose_2_*函数(例如<code class="xref py py-class docutils literal notranslate"><span class="pre">robomath。构成_2_KUKA</span></code>)，将姿态转换为特定于机器人品牌的XYZABC (XYZ位置以毫米为单位，ABC方向以度为单位)。</p><p>例子:<一个类＝”reference internal" href="//www.sinclairbody.com/doc/en/PythonAPI/examples.html"><span class="std std-ref">2022世界杯8强赛时间</span></a></p> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">造成()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.PoseAbs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseAbs ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.PoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseTool ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.PoseFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseFrame ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Item" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">项目()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.PoseWrt"> <span class="sig-name descname"><span class="pre">PoseWrt</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">项</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.PoseWrt" title="¶”>¶</一个></dt><dd><p>返回这个Item相对于另一个Item的相对位置。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>项</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -另一项</p></dd><dt类＝”field-even"> 返回</dt><dd类＝”field-even"> <p>从源项目到第二个项目的姿势</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p><a class="reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a></p> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">造成()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.PoseAbs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseAbs ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setGeometryPose"> <span class="sig-name descname"><span class="pre">setGeometryPose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">构成</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">应用</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setGeometryPose" title="¶”>¶</一个></dt><dd><p>设置物体几何相对于它自己的参考系的位置(姿态)。这可以应用于工具和对象。姿势必须是a<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a></p> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.GeometryPose"> <span class="sig-name descname"><span class="pre">GeometryPose</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.GeometryPose" title="¶”>¶</一个></dt><dd><p>返回位置(姿态为<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>)物体相对于它自己的参考系的几何形状。此过程适用于工具和对象。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setPoseAbs"> <span class="sig-name descname"><span class="pre">setPoseAbs</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">构成</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setPoseAbs" title="¶”>¶</一个></dt><dd><p>摆好姿势(<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>)相对于绝对参考系(也称为站坐标系或世界坐标系- wcs -)。例如，物体/帧/目标相对于站的原点的位置。如果物品是工具，则相关机器人的关节将被更新以匹配工具的绝对姿态(TCP未更改)。setPoseAbs对机器人没有影响。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>构成</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -项目相对于站位的位置</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.PoseAbs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseAbs ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">造成()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.PoseAbs"> <span class="sig-name descname"><span class="pre">PoseAbs</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.PoseAbs" title="¶”>¶</一个></dt><dd><p>返回姿态(<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>)相对于绝对参考系(也称为站坐标系或世界坐标系- wcs -)。例如，物体/帧/目标相对于站的原点的位置。</p><p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#计算任何物体相对于RoboDK中的任何引用的姿态</span><span class="k">def</span><span class="nf">CalculatePoseFrame2Object</span><span class="p">（</span><span class="n">框架</span><span class="p">，</span><span class="n">部分</span><span class="p">)：</span><span class="c1">#获得关于站点参考的两个姿态(wrt-world坐标系)</span><span class="n">framePoseAbs</span><span class="o">＝</span><span class="n">框架</span><span class="o">．</span><span class="n">PoseAbs</span><span class="p">（）</span><span class="n">partPoseAbs</span><span class="o">＝</span><span class="n">部分</span><span class="o">．</span><span class="n">PoseAbs</span><span class="p">（）</span><span class="c1">计算对象相对于参考的姿态</span><span class="n">构成</span><span class="o">＝</span><span class="n">framePoseAbs</span><span class="o">．</span><span class="n">发票</span><span class="p">（）</span><span class="o">＊</span><span class="n">partPoseAbs</span><span class="k">返回</span><span class="n">构成</span><span class="c1">#获取对象</span><span class="n">obj</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“球”</span><span class="p">）</span><span class="c1">#检索引用</span><span class="n">框架</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“第二帧”</span><span class="p">）</span><span class="c1">计算关系</span><span class="n">构成</span><span class="o">＝</span><span class="n">CalculatePoseFrame2Object</span><span class="p">（</span><span class="n">框架</span><span class="p">，</span><span class="n">obj</span><span class="p">）</span><span class="c1">#显示结果</span><span class="nb">打印</span><span class="p">（</span><span class="n">构成</span><span class="p">）</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">“相对姿势是:”</span><span class="o">+</span><span class="nb">str</span><span class="p">（</span><span class="n">构成</span><span class="p">）)</span></pre> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setPoseAbs" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseAbs ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">造成()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPose ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Recolor"> <span class="sig-name descname"><span class="pre">重新着色</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">tocolor</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">fromcolor</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">宽容</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Recolor" title="¶”>¶</一个></dt><dd><p>控件的颜色<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>(物体、工具或机器人)。颜色的格式必须为COLOR=[R,G,B，(A=1)]，其中所有值的范围为0到1。Alpha (A)默认为1(100%不透明)。将A设置为0使对象透明。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>tocolor</strong>（<em>浮子清单</em>) -颜色设置</p></li> <li><p><strong>fromcolor</strong>（<em>浮子清单</em>) -颜色更改</p></li> <li><p><strong>宽容</strong>（<em>浮动</em><em>（</em><em>默认值为0.1</em><em>）</em>) -替换颜色的容差(设置为0以精确匹配)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setColor" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">改变颜色()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setColor"> <span class="sig-name descname"><span class="pre">改变颜色</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">tocolor</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setColor" title="¶”>¶</一个></dt><dd><p>设置对象、工具或机器人的颜色。颜色的格式必须为color =[R,G,B，(A=1)]，其中所有值的范围为0到1。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>tocolor</strong>（<em>浮子清单</em>) -颜色设置</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Color" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">颜色()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Recolor" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">重新着色()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setColorShape"> <span class="sig-name descname"><span class="pre">setColorShape</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">tocolor</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">shape_id</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setColorShape" title="¶”>¶</一个></dt><dd><p>设置对象形状的颜色。它也可以用来做工具。颜色的格式必须为color =[R,G,B，(A=1)]，其中所有值的范围为0到1。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>tocolor</strong>（<em>浮子清单</em>) -颜色设置</p></li> <li><p><strong>shape_id</strong>（<em>int</em>-形状的ID: ID是使用AddShape()添加形状的顺序。</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Color" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">颜色()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Recolor" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">重新着色()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setColorCurve"> <span class="sig-name descname"><span class="pre">setColorCurve</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">tocolor</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">curve_id</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setColorCurve" title="¶”>¶</一个></dt><dd><p>设置曲线对象的颜色。它也可以用来做工具。颜色的格式必须为color =[R,G,B，(A=1)]，其中所有值的范围为0到1。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>tocolor</strong>（<em>浮子清单</em>) -颜色设置</p></li> <li><p><strong>curve_id</strong>（<em>int</em>-曲线的ID: ID是使用AddCurve()添加形状的顺序。</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Color" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">颜色()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Recolor" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">重新着色()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Color"> <span class="sig-name descname"><span class="pre">颜色</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Color" title="¶”>¶</一个></dt><dd><p>返回的颜色<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>(物体、工具或机器人)。如果项目有多种颜色，则返回第一种可用颜色)。颜色的格式为color =[R,G,B，(A=1)]，其中所有值的范围为0到1。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setColor" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">改变颜色()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Recolor" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">重新着色()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Scale"> <span class="sig-name descname"><span class="pre">规模</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">规模</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">pre_mult</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">post_mult</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Scale" title="¶”>¶</一个></dt><dd><p>将比例应用于对象以使其变大或变小。缩放可以是统一的(如果缩放是一个浮动值)，也可以是每个轴(如果缩放是一个数组/列表[scale_x, scale_y, scale_z])。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>规模</strong>（<em>浮动</em><em>或</em><em>3个浮子列表</em><em>［</em><em>scale_x</em><em>，</em><em>scale_y</em><em>，</em><em>scale_z</em><em>］</em>- scale参数(1表示没有变化)</p></li> <li><p><strong>pre_mult</strong>-在缩放之前应用预乘法(可选)</p></li> <li><p><strong>post_mult</strong>-后乘法应用在缩放之后(可选)</p></li> </ul> </dd> </dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.AddShape"> <span class="sig-name descname"><span class="pre">AddShape</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">triangle_points</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.AddShape" title="¶”>¶</一个></dt><dd><p>将形状添加到提供一些三角形坐标的对象中。三角形必须以顶点列表的形式提供。顶点法线可以选择提供。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddShape" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddShape ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.AddCurve"> <span class="sig-name descname"><span class="pre">AddCurve</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">curve_points</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">add_to_ref</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">projection_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">3.</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.AddCurve" title="¶”>¶</一个></dt><dd><p>添加一个提供点坐标的曲线。所提供的点必须是顶点的列表。顶点法线可以选择提供。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddCurve" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddCurve ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.AddPoints"> <span class="sig-name descname"><span class="pre">AddPoints</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">点</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">add_to_ref</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">projection_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">3.</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.AddPoints" title="¶”>¶</一个></dt><dd><p>向对象添加点列表。所提供的点必须是顶点的列表。顶点法线可以选择提供。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddPoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddPoints ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.ProjectPoints"> <span class="sig-name descname"><span class="pre">ProjectPoints</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">点</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">projection_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">3.</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.ProjectPoints" title="¶”>¶</一个></dt><dd><p>将一个点或一组点投影到给定坐标的对象上。所提供的点必须是[XYZ]坐标的列表。可选地，可以提供顶点法线[XYZijk]。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.ProjectPoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ProjectPoints ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.SelectedFeature"> <span class="sig-name descname"><span class="pre">SelectedFeature</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.SelectedFeature" title="¶”>¶</一个></dt><dd><p>检索此对象的当前选定特性。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.GetPoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">GetPoints ()</span></code></a></p> </div> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#显示选定的点</span><span class="nb">对象</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“对象”</span><span class="p">，</span><span class="n">ITEM_TYPE_OBJECT</span><span class="p">）</span><span class="n">is_selected</span><span class="p">，</span><span class="n">feature_type</span><span class="p">，</span><span class="n">feature_id</span><span class="o">＝</span><span class="n">对象</span><span class="o">．</span><span class="n">SelectedFeature</span><span class="p">（）</span><span class="n">点</span><span class="p">，</span><span class="n">name_selected</span><span class="o">＝</span><span class="nb">对象</span><span class="o">．</span><span class="n">GetPoints</span><span class="p">（</span><span class="n">feature_type</span><span class="p">，</span><span class="n">feature_id</span><span class="p">）</span><span class="n">点</span><span class="o">＝</span><span class="kc">没有一个</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">点</span><span class="p">）</span><span class="o">></span><span class="mi">1</span><span class="p">：</span><span class="n">点</span><span class="o">＝</span><span class="n">点</span><span class="p">［</span><span class="n">feature_id</span><span class="p">］</span><span class="k">其他的</span><span class="p">：</span><span class="n">点</span><span class="o">＝</span><span class="n">点</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="n">RDK</span><span class="o">．</span><span class="n">ShowMessage</span><span class="p">（</span><span class="s2">“选定的点:</span><span class="si">% s</span><span class="s2">= (</span><span class="si">% .3f</span><span class="s2">，</span><span class="si">% .3f</span><span class="s2">，</span><span class="si">% .3f</span><span class="s2">)”</span><span class="o">％</span><span class="p">（</span><span class="n">name_selected</span><span class="p">，</span><span class="n">点</span><span class="p">［</span><span class="mi">0</span><span class="p">]，</span><span class="n">点</span><span class="p">［</span><span class="mi">1</span><span class="p">]，</span><span class="n">点</span><span class="p">［</span><span class="mi">2</span><span class="p">)))</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.GetPoints"> <span class="sig-name descname"><span class="pre">GetPoints</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">feature_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">feature_id</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.GetPoints" title="¶”>¶</一个></dt><dd><p>检索鼠标光标下的点、曲线或对象的3D点。这些点以相对坐标的[XYZijk]格式提供。XYZ是局部点坐标，ijk是曲面的法线。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>feature_type</strong>（<em>int</em>) -设置为FEATURE_SURFACE检索鼠标光标下的点，FEATURE_CURVE检索该线的点列表，或FEATURE_POINT检索点列表。</p></li> <li><p><strong>feature_id</strong>（<em>int</em>) -仅在指定FEATURE_CURVE时使用，它允许检索对象的适当曲线id</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>要点列表</p></dd></dl> <p>示例1 -显示选定对象的XYZ位置</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入RoboDK API</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#启动RoboDK API</span><span class="c1">#让用户选择一个对象</span><span class="n">对象</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s2">“选择对象”</span><span class="p">，</span><span class="n">ITEM_TYPE_OBJECT</span><span class="p">）</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="n">is_selected</span><span class="p">，</span><span class="n">feature_type</span><span class="p">，</span><span class="n">feature_id</span><span class="o">＝</span><span class="n">对象</span><span class="o">．</span><span class="n">SelectedFeature</span><span class="p">（）</span><span class="k">如果</span><span class="n">is_selected</span><span class="ow">而且</span><span class="n">feature_type</span><span class="o">= =</span><span class="n">FEATURE_SURFACE</span><span class="p">：</span><span class="n">point_mouse</span><span class="p">，</span><span class="n">name_feature</span><span class="o">＝</span><span class="n">对象</span><span class="o">．</span><span class="n">GetPoints</span><span class="p">（</span><span class="n">FEATURE_SURFACE</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“选择</span><span class="si">%我</span><span class="s2">（</span><span class="si">%我</span><span class="s2">)：</span><span class="si">% s</span><span class="s2"></span><span class="si">% s</span><span class="s2">”</span><span class="o">％</span><span class="p">（</span><span class="n">feature_id</span><span class="p">，</span><span class="n">feature_type</span><span class="p">，</span><span class="nb">str</span><span class="p">（</span><span class="n">point_mouse</span><span class="p">)，</span><span class="n">name_feature</span><span class="p">）)</span><span class="k">其他的</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“对象未选中。在物体表面选择一个点…”</span><span class="p">）</span><span class="n">robomath</span><span class="o">．</span><span class="n">暂停</span><span class="p">（</span><span class="mf">0．1</span><span class="p">）</span></pre> </div> </div> <p>例2 -显示选定对象表面的网格</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入RoboDK API</span><span class="kn">进口</span><span class="nn">时间</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#启动RoboDK API</span><span class="k">而</span><span class="kc">真正的</span><span class="p">：</span><span class="c1">#检查鼠标光标下是否有一个对象</span><span class="nb">对象</span><span class="p">，</span><span class="n">feature_type</span><span class="p">，</span><span class="n">feature_id</span><span class="p">，</span><span class="n">feature_name</span><span class="p">，</span><span class="n">点</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">GetPoints</span><span class="p">（</span><span class="n">FEATURE_HOVER_OBJECT</span><span class="p">）</span><span class="k">如果</span><span class="nb">对象</span><span class="o">．</span><span class="n">有效的</span><span class="p">（）</span><span class="ow">而且</span><span class="p">（</span><span class="nb">对象</span><span class="o">．</span><span class="n">类型</span><span class="o">= =</span><span class="n">ITEM_TYPE_OBJECT</span><span class="ow">或</span><span class="nb">对象</span><span class="o">．</span><span class="n">类型</span><span class="o">= =</span><span class="n">ITEM_TYPE_TOOL</span><span class="p">)：</span><span class="c1">检索对象上的选定特征</span><span class="n">is_selected</span><span class="p">，</span><span class="n">feature_type</span><span class="p">，</span><span class="n">feature_id</span><span class="o">＝</span><span class="nb">对象</span><span class="o">．</span><span class="n">SelectedFeature</span><span class="p">（）</span><span class="k">如果</span><span class="n">is_selected</span><span class="ow">而且</span><span class="n">feature_type</span><span class="o">= =</span><span class="n">FEATURE_SURFACE</span><span class="p">：</span><span class="c1">检索与曲面ID相关的网格</span><span class="n">point_mesh</span><span class="p">，</span><span class="n">name_feature</span><span class="o">＝</span><span class="nb">对象</span><span class="o">．</span><span class="n">GetPoints</span><span class="p">（</span><span class="n">FEATURE_OBJECT_MESH</span><span class="p">，</span><span class="n">feature_id</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“选择</span><span class="si">%我</span><span class="s2">（</span><span class="si">%我</span><span class="s2">)：</span><span class="si">% s</span><span class="s2">”</span><span class="o">％</span><span class="p">（</span><span class="n">feature_id</span><span class="p">，</span><span class="n">feature_type</span><span class="p">，</span><span class="n">name_feature</span><span class="p">）)</span><span class="nb">打印</span><span class="p">（</span><span class="s2">网格点:“</span><span class="p">）</span><span class="k">为</span><span class="n">xyzijk</span><span class="ow">在</span><span class="n">point_mesh</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="n">xyzijk</span><span class="p">）</span><span class="c1">#根据需要清除选择或操作</span><span class="n">RDK</span><span class="o">．</span><span class="n">setSelection</span><span class="p">([])</span><span class="k">其他的</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“点击表面查看网格”</span><span class="p">）</span><span class="n">时间</span><span class="o">．</span><span class="n">睡眠</span><span class="p">（</span><span class="mf">0．1</span><span class="p">）</span><span class="k">继续</span><span class="k">其他的</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“对象未选中。物体或工具的表面。</span><span class="p">）</span><span class="n">时间</span><span class="o">．</span><span class="n">睡眠</span><span class="p">（</span><span class="mf">0．1</span><span class="p">）</span></pre> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.SelectedFeature" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SelectedFeature ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setMillingParameters"> <span class="sig-name descname"><span class="pre">setMillingParameters</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">ncfile</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">部分</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">参数个数</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setMillingParameters" title="¶”>¶</一个></dt><dd><p>过时的,使用<一个类＝”reference internal" href="#robodk.robolink.Item.setMachiningParameters" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setMachiningParameters ()</span></code></a>而不是</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setMachiningParameters"> <span class="sig-name descname"><span class="pre">setMachiningParameters</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">ncfile</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">部分</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">参数个数</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setMachiningParameters" title="¶”>¶</一个></dt><dd><p>更新机器人铣削路径输入及参数。参数输入可以是NC文件(G-code或APT文件)，也可以是RoboDK中的对象项。机器人制造项目将自动建立曲线或点跟随项目。提示:使用getLink()， setPoseTool()， setPoseFrame()来获取/设置链接到项目的机器人工具，参考框架，机器人和程序。提示:使用setPose()和setjoint()来更新路径到工具方向或首选的起始关节。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>ncfile</strong>（<em>str</em>) -要加载的NC文件(G-code或APT)的路径(可选)</p></li> <li><p><strong>部分</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>-对象保持曲线或点自动设置曲线/点跟踪项目(可选)</p></li> <li><p><strong>参数个数</strong>-其他选项</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddMachiningProject" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddMachiningProject ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Joints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">关节()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.getLink" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getLink ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setJoints ()</span></code></a>，<code class="xref py py-func docutils literal notranslate"><span class="pre">setToolPose ()</span></code>，<code class="xref py py-func docutils literal notranslate"><span class="pre">setFramePose ()</span></code></p> </div> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">object_curve</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddCurve</span><span class="p">（</span><span class="n">点</span><span class="p">）</span><span class="n">object_curve</span><span class="o">．</span><span class="n">setName</span><span class="p">（</span><span class="s1">“AutoPoints n</span><span class="si">%我</span><span class="s1">＇</span><span class="o">％</span><span class="n">NUM_POINTS</span><span class="p">）</span><span class="n">path_settings</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">AddMillingProject</span><span class="p">（</span><span class="s2">“AutoCurveFollow设置”</span><span class="p">）</span><span class="n">掠夺</span><span class="p">，</span><span class="n">状态</span><span class="o">＝</span><span class="n">path_settings</span><span class="o">．</span><span class="n">setMillingParameters</span><span class="p">（</span><span class="n">部分</span><span class="o">＝</span><span class="n">object_curve</span><span class="p">）</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setAsCartesianTarget"> <span class="sig-name descname"><span class="pre">setAsCartesianTarget</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setAsCartesianTarget" title="¶”>¶</一个></dt><dd><p>将目标设置为笛卡尔目标。笛卡尔目标移动到笛卡尔坐标。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setAsJointTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setAsJointTarget ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setAsJointTarget"> <span class="sig-name descname"><span class="pre">setAsJointTarget</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setAsJointTarget" title="¶”>¶</一个></dt><dd><p>将目标设置为联合目标。关节目标在不考虑笛卡尔坐标的情况下移动到关节位置。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setAsCartesianTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setAsCartesianTarget ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.isJointTarget"> <span class="sig-name descname"><span class="pre">isJointTarget</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.isJointTarget" title="¶”>¶</一个></dt><dd><p>如果目标是联合目标，则返回True。关节目标在不考虑笛卡尔坐标的情况下移动到关节位置。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPose ()</span></code></a>，<code class="xref py py-func docutils literal notranslate"><span class="pre">setAsJointTarget ()</span></code></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Joints"> <span class="sig-name descname"><span class="pre">关节</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Joints" title="¶”>¶</一个></dt><dd><p>返回当前关节位置为a<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>机器人或目标的关节。如果项目是笛卡尔目标，它将返回到该笛卡尔位置的首选关节(配置)。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setJoints ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveJ" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveJ ()</span></code></a></p> </div> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robolink库</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#连接到RoboDK API(如果RoboDK还没有启动就会启动)</span><span class="n">工具</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">#找回机器人</span><span class="n">关节</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="o">．</span><span class="n">列表</span><span class="p">（）</span><span class="c1">#以列表形式检索当前机器人关节</span><span class="n">关节</span><span class="p">［</span><span class="mi">5</span><span class="p">］</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#设置关节6到0度</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">关节</span><span class="p">）</span><span class="c1">#移动机器人到新的关节位置</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.SimulatorJoints"> <span class="sig-name descname"><span class="pre">SimulatorJoints</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.SimulatorJoints" title="¶”>¶</一个></dt><dd><p>返回机器人的当前关节位置(仅从模拟器返回，从不从真实机器人返回)。这应该只在RoboDK连接到真实机器人并且只需要检索模拟机器人时使用(例如，如果我们想使用太空鼠标移动机器人)。</p><p>注意:使用robot. joint()来检索连接时的模拟和真实机器人位置。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Joints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">关节()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.JointPoses"> <span class="sig-name descname"><span class="pre">JointPoses</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">关节</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.JointPoses" title="¶”>¶</一个></dt><dd><p>返回所提供的机器人配置(关节)的关节链接位置。如果没有提供关节，它将返回当前机器人位置的姿势。输出1:4x4 × n ->阵列的4x4齐次矩阵。索引0是基本坐标系参考(当关节移动时它从不移动)。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.JointsHome"> <span class="sig-name descname"><span class="pre">JointsHome</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.JointsHome" title="¶”>¶</一个></dt><dd><p>返回机器人的主关节。home关节可以在RoboDK机器人面板的机器人“参数”菜单中手动设置，然后选择“设置home位置”。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Joints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">关节()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setJointsHome"> <span class="sig-name descname"><span class="pre">setJointsHome</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">关节</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setJointsHome" title="¶”>¶</一个></dt><dd><p>设置机器人在关节空间的主位置。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>关节</strong>(浮动列表或<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -机器人关节</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setJoints ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.ObjectLink"> <span class="sig-name descname"><span class="pre">ObjectLink</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">link_id</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.ObjectLink" title="¶”>¶</一个></dt><dd><p>返回一个项指针(<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>)连接到机器人连接。这对于显示/隐藏某些机器人链接或改变它们的几何形状非常有用。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>link_id</strong>（<em>int</em>) -链接索引(0表示机器人基础，1表示第一个链接，…)</p></dd></dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.getLink"> <span class="sig-name descname"><span class="pre">getLink</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">type_linked</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">2</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.getLink" title="¶”>¶</一个></dt><dd><p>返回一个项指针(<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>)到机器人、物体、工具或程序。这对于检索程序、机器人、工具和其他特定项目之间的关系非常有用。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>type_linked</strong>（<em>int</em>) -要检索的链接对象的类型</p></dd></dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setJoints"> <span class="sig-name descname"><span class="pre">setJoints</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">关节</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setJoints" title="¶”>¶</一个></dt><dd><p>设置机器人或目标的当前关节。如果设置了机器人关节，机器人的位置将在屏幕上更新。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>关节</strong>(浮动列表或<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -机器人关节</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Joints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">关节()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.JointLimits"> <span class="sig-name descname"><span class="pre">JointLimits</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.JointLimits" title="¶”>¶</一个></dt><dd><p>检索机器人的关节极限。返回(下限、上限、关节类型)。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setJointLimits" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setJointLimits ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setJointLimits"> <span class="sig-name descname"><span class="pre">setJointLimits</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">lower_limit</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">upper_limit</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setJointLimits" title="¶”>¶</一个></dt><dd><p>更新机器人关节限制</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>lower_limit</strong>（<em>浮子清单</em>) -关节下限</p></li> <li><p><strong>upper_limit</strong>（<em>浮子清单</em>) -关节上限</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.JointLimits" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">JointLimits ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setRobot"> <span class="sig-name descname"><span class="pre">setRobot</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">机器人</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setRobot" title="¶”>¶</一个></dt><dd><p>将一个特定的机器人分配给一个程序、目标或机器人加工项目。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>机器人</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -机器人链接</p></dd></dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setPoseFrame"> <span class="sig-name descname"><span class="pre">setPoseFrame</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">框架</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setPoseFrame" title="¶”>¶</一个></dt><dd><p>设置机器人的参考系(用户系)。框架可以是一个项目或4x4矩阵</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>框架</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>或<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -机器人参考系作为一个项目，或一个姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.PoseFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseFrame ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseTool ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setPoseTool"> <span class="sig-name descname"><span class="pre">setPoseTool</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">工具</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setPoseTool" title="¶”>¶</一个></dt><dd><p>设置机器人工具相对于机器人法兰的姿态(TCP)。工具姿势可以是一个项目或4x4矩阵</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>工具</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>或<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -机器人工具作为一个项目，或一个姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.PoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseTool ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPoseFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseFrame ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.PoseTool"> <span class="sig-name descname"><span class="pre">PoseTool</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.PoseTool" title="¶”>¶</一个></dt><dd><p>返回姿态(<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>)的机器人工具(TCP)相对于机器人法兰</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setPoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseTool ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">造成()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.PoseFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseFrame ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.PoseFrame"> <span class="sig-name descname"><span class="pre">PoseFrame</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.PoseFrame" title="¶”>¶</一个></dt><dd><p>返回姿态(<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>)相对于机器人底座的机器人参考系</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setPoseFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseFrame ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">造成()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.PoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseTool ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Htool"> <span class="sig-name descname"><span class="pre">Htool</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Htool" title="¶”>¶</一个></dt><dd><p>过时了。使用<一个类＝”reference internal" href="#robodk.robolink.Item.PoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseTool ()</span></code></a>代替。返回姿态(<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>)的机器人工具(TCP)相对于机器人法兰</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Tool"> <span class="sig-name descname"><span class="pre">工具</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Tool" title="¶”>¶</一个></dt><dd><p>过时了。使用<一个类＝”reference internal" href="#robodk.robolink.Item.PoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseTool ()</span></code></a>代替。返回姿态(<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>)的机器人工具(TCP)相对于机器人法兰</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Frame"> <span class="sig-name descname"><span class="pre">框架</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Frame" title="¶”>¶</一个></dt><dd><p>过时了。使用<一个类＝”reference internal" href="#robodk.robolink.Item.PoseFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseFrame ()</span></code></a>代替。返回姿态(<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>)相对于机器人底座的机器人参考系</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setHtool"> <span class="sig-name descname"><span class="pre">setHtool</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">工具</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setHtool" title="¶”>¶</一个></dt><dd><p>过时了。<一个类＝”reference internal" href="#robodk.robolink.Item.setPoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseTool ()</span></code></a>代替。设置关于机器人法兰的机器人工具姿态(TCP)。工具姿势可以是一个项目或4x4矩阵</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setTool"> <span class="sig-name descname"><span class="pre">setTool</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">工具</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setTool" title="¶”>¶</一个></dt><dd><p>过时了。使用<一个类＝”reference internal" href="#robodk.robolink.Item.setPoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseTool ()</span></code></a>代替。设置关于机器人法兰的机器人工具姿态(TCP)。工具姿势可以是一个项目或4x4矩阵</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setFrame"> <span class="sig-name descname"><span class="pre">setFrame</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">框架</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setFrame" title="¶”>¶</一个></dt><dd><p>过时了。使用<一个类＝”reference internal" href="#robodk.robolink.Item.setPoseFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseFrame ()</span></code></a>代替。设置机器人的参考系(用户系)。框架可以是一个项目或4x4矩阵</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.AddTool"> <span class="sig-name descname"><span class="pre">AddTool</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">tool_pose</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">tool_name</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“新</span><span class="pre">TCP的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.AddTool" title="¶”>¶</一个></dt><dd><p>给机器人添加一个工具，给定工具姿势和工具名称。它返回工具作为<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>．</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>tool_pose</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>-刀具相对于机器人法兰的刀具位姿(TCP)</p></li> <li><p><strong>tool_name</strong>（<em>str</em>) -工具名称</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFrame ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.PoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">PoseTool ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseTool ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddFile" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddFile ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.SolveFK"> <span class="sig-name descname"><span class="pre">SolveFK</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">关节</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">工具</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">参考</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.SolveFK" title="¶”>¶</一个></dt><dd><p>对所提供的关节计算机器人的正运动学。返回机器人法兰相对于机器人基准的姿态(<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>)．</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>关节</strong>(浮动列表或<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -机器人关节</p></li> <li><p><strong>工具</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>-可选地提供用于计算正运动学的工具。如果忽略这个参数，它将使用机器人法兰。</p></li> <li><p><strong>参考</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -可选地提供用于计算正运动学的参考系。如果忽略这个参数，它将使用机器人的基本框架。</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.SolveIK" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SolveIK ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.SolveIK_All" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SolveIK_All ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.JointsConfig" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">JointsConfig ()</span></code></a></p> </div> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robolink库</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#连接到RoboDK API(如果RoboDK还没有启动，则启动它</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">#找回机器人</span><span class="c1">#获取当前机器人关节</span><span class="n">robot_joints</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="c1">#从关节获取机器人位置(计算正运动学)</span><span class="n">robot_position</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">SolveFK</span><span class="p">（</span><span class="n">robot_joints</span><span class="p">）</span><span class="c1">#获取机器人配置(机器人关节状态)</span><span class="n">robot_config</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">JointsConfig</span><span class="p">（</span><span class="n">robot_joints</span><span class="p">）</span><span class="c1">#计算新的机器人位置</span><span class="n">new_robot_position</span><span class="o">＝</span><span class="n">transl</span><span class="p">([</span><span class="n">x_move</span><span class="p">，</span><span class="n">y_move</span><span class="p">，</span><span class="n">z_move</span><span class="p">])</span><span class="o">＊</span><span class="n">robot_position</span><span class="c1">#计算新的机器人关节</span><span class="n">new_robot_joints</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">SolveIK</span><span class="p">（</span><span class="n">new_robot_position</span><span class="p">）</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">new_robot_joints</span><span class="o">．</span><span class="n">tolist</span><span class="p">（））</span><span class="o"><</span><span class="mi">6</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“没有机器人解决方案!!”新位置太遥远、够不着或太接近奇点。”</span><span class="p">）</span><span class="k">继续</span><span class="c1">#计算新关节的机器人配置</span><span class="n">new_robot_config</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">JointsConfig</span><span class="p">（</span><span class="n">new_robot_joints</span><span class="p">）</span><span class="k">如果</span><span class="n">robot_config</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="o">! =</span><span class="n">new_robot_config</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="ow">或</span><span class="n">robot_config</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="o">! =</span><span class="n">new_robot_config</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="ow">或</span><span class="n">robot_config</span><span class="p">［</span><span class="mi">2</span><span class="p">］</span><span class="o">! =</span><span class="n">new_robot_config</span><span class="p">［</span><span class="mi">2</span><span class="p">]：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“警告!机器人配置改变:这可能会导致意想不到的动作!”</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">robot_config</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">new_robot_config</span><span class="p">）</span><span class="c1">#移动机器人到新位置</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">new_robot_joints</span><span class="p">）</span><span class="c1"># robot.MoveL (new_robot_joints)</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.JointsConfig"> <span class="sig-name descname"><span class="pre">JointsConfig</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">关节</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.JointsConfig" title="¶”>¶</一个></dt><dd><p>返回一组机器人关节的机器人配置状态。配置状态定义为:[REAR, LOWERARM, FLIP, turns]。这些转弯是为将来使用而保留的。</p><p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#检索给定姿势的所有解:</span><span class="n">all_solutions</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">SolveIK_All</span><span class="p">（</span><span class="n">构成</span><span class="p">，</span><span class="n">toolpose</span><span class="p">，</span><span class="n">framepose</span><span class="p">）</span><span class="n">关节</span><span class="o">＝</span><span class="p">［］</span><span class="c1">遍历每个解决方案</span><span class="k">为</span><span class="n">j</span><span class="ow">在</span><span class="n">all_solutions</span><span class="p">：</span><span class="c1">#检索每个解决方案的标记列表</span><span class="n">conf_RLF</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">JointsConfig</span><span class="p">（</span><span class="n">j</span><span class="p">）</span><span class="o">．</span><span class="n">列表</span><span class="p">（）</span><span class="c1">#旗帜分解:</span><span class="n">后</span><span class="o">＝</span><span class="n">conf_RLF</span><span class="p">［</span><span class="mi">0</span><span class="p">］</span><span class="c1"># 1为后，0为前</span><span class="n">较低的</span><span class="o">＝</span><span class="n">conf_RLF</span><span class="p">［</span><span class="mi">1</span><span class="p">］</span><span class="c1"># 1为下部，0为上部(肘部)</span><span class="n">翻转</span><span class="o">＝</span><span class="n">conf_RLF</span><span class="p">［</span><span class="mi">2</span><span class="p">］</span><span class="c1">1如果是翻转，0如果不是翻转(通常是关节5为负时的翻转)</span><span class="c1">#寻找一个解决方案与前面和肘部配置</span><span class="c1">#if conf_RLF[0:2] == [0,0]:</span><span class="k">如果</span><span class="n">后</span><span class="o">= =</span><span class="mi">0</span><span class="ow">而且</span><span class="n">较低的</span><span class="o">= =</span><span class="mi">0</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“解决方案发现!”</span><span class="p">）</span><span class="n">关节</span><span class="o">＝</span><span class="n">j</span><span class="k">打破</span></pre> </div> </div> <dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>关节</strong>（<em>浮子清单</em>) -机器人关节</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.SolveFK" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SolveFK ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.SolveIK" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SolveIK ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.SolveIK"> <span class="sig-name descname"><span class="pre">SolveIK</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">构成</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">joints_approx</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">工具</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">参考</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.SolveIK" title="¶”>¶</一个></dt><dd><p>计算给定给定姿态的逆运动学。除非您提供工具和/或参考资料，否则姿态必须是机器人法兰相对于机器人底座。SolveIK返回关节解决方案作为一个Mat对象(大小为1xndfs)。在Mat上使用list()转换为列表。如果没有解，则返回一个大小为0的数组。如果没有解，则返回一个空矩阵。对于一些6轴机器人，SolveIK返回2个可以忽略的额外值。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>构成</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -机器人法兰相对于机器人底座的姿态</p></li> <li><p><strong>joints_approx</strong>（<em>浮子清单</em>) -优选的关节解决方案或机器人配置。保留空白以返回与当前机器人位置最接近的匹配。</p></li> <li><p><strong>工具</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -相对于机器人法兰的工具姿态(TCP)</p></li> <li><p><strong>参考</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -参考姿态(相对于机器人底座的参考系)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.SolveFK" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SolveFK ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.SolveIK_All" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SolveIK_All ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.JointsConfig" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">JointsConfig ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.SolveIK_All"> <span class="sig-name descname"><span class="pre">SolveIK_All</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">构成</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">工具</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">参考</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.SolveIK_All" title="¶”>¶</一个></dt><dd><p>计算指定机器人的逆运动学和姿态。该函数以二维矩阵的形式返回所有可用的关节解。返回一个二维矩阵[N x M]的关节列表，其中N是自由度(机器人关节)的数量，M是解的数量。对于一些6轴机器人，SolveIK返回2个可以忽略的额外值。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>构成</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -机器人法兰相对于机器人底座的姿态</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.SolveFK" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SolveFK ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.SolveIK" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SolveIK ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.JointsConfig" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">JointsConfig ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.FilterTarget"> <span class="sig-name descname"><span class="pre">FilterTarget</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">构成</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">joints_approx</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.FilterTarget" title="¶”>¶</一个></dt><dd><p>过滤目标以提高精度。这个选项需要一个校准的机器人。:param pose:机器人TCP相对于机器人参考系的姿态:<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>:param joints_approx:近似值想要的关节来定义首选的配置<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a></p> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Connect"> <span class="sig-name descname"><span class="pre">连接</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">robot_ip</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">阻塞</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Connect" title="¶”>¶</一个></dt><dd><p>连接到一个真正的机器人并等待连接成功。如果连接成功则返回1，如果连接失败则返回0。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>robot_ip</strong>（<em>str</em>) -机器人IP。请使用机器人连接面板中选择的IP。</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.ConnectSafe" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ConnectSafe ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.ConnectedState" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ConnectedState ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Disconnect" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">断开()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.setRunMode" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setRunMode ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.ConnectSafe"> <span class="sig-name descname"><span class="pre">ConnectSafe</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">robot_ip</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">max_attempts</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">5</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">wait_connection</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">4</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">callback_abort</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.ConnectSafe" title="¶”>¶</一个></dt><dd><p>连接到一个真正的机器人并等待连接成功。返回ConnectedState()返回的连接状态(如果连接成功并且机器人已经准备好，则为0)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>robot_ip</strong>（<em>str</em>) -机器人IP。请使用机器人连接面板中选择的IP。</p></li> <li><p><strong>max_attempts</strong>（<em>int</em>) -在报告一个不成功的连接之前的最大连接尝试次数</p></li> <li><p><strong>wait_connection</strong>（<em>浮动</em>) -连接尝试之间的等待时间(以秒为单位)</p></li> <li><p><strong>callback_abort</strong>（<em>函数</em>-函数指针，如果我们应该中止连接操作，返回true</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Connect" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Connect ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.ConnectedState" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ConnectedState ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.setRunMode" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setRunMode ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.ConnectionParams"> <span class="sig-name descname"><span class="pre">ConnectionParams</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.ConnectionParams" title="¶”>¶</一个></dt><dd><p>返回机器人连接参数:return: [robotIP (str)， port (int)， remote_path (str)， FTP_user (str)， FTP_pass (str)]</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setConnectionParams" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setConnectionParams ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Connect" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Connect ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.ConnectSafe" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ConnectSafe ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setConnectionParams"> <span class="sig-name descname"><span class="pre">setConnectionParams</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">robot_ip</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">港口</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">remote_path</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">ftp_user</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">ftp_pass</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setConnectionParams" title="¶”>¶</一个></dt><dd><p>设置机器人连接参数</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>robot_ip</strong>（<em>str</em>) -机器人IP</p></li> <li><p><strong>港口</strong>（<em>int</em>) -机器人通信端口</p></li> <li><p><strong>remote_path</strong>（<em>str</em>) -在机器人控制器上传输文件的路径</p></li> <li><p><strong>ftp_user</strong>（<em>str</em>)—FTP连接的用户名</p></li> <li><p><strong>ftp_pass</strong>（<em>str</em>) - FTP连接的密码凭据</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.ConnectionParams" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ConnectionParams ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Connect" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Connect ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.ConnectSafe" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ConnectSafe ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.ConnectedState"> <span class="sig-name descname"><span class="pre">ConnectedState</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.ConnectedState" title="¶”>¶</一个></dt><dd><p>用真实机器人检查连接状态Out 1: status code -> (int) ROBOTCOM_READY如果机器人准备移动，否则，status message将提供更多关于问题的信息Out 2: status message ->机器人状态的消息描述</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.ConnectionParams" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ConnectionParams ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Connect" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Connect ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.ConnectSafe" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ConnectSafe ()</span></code></a></p> </div> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robolink库</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">#获得第一个可用的机器人</span><span class="n">状态</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">连接</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="n">状态</span><span class="p">）</span><span class="c1">#检查连接状态和消息</span><span class="n">状态</span><span class="p">，</span><span class="n">味精</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">ConnectedState</span><span class="p">（）</span><span class="nb">打印</span><span class="p">（</span><span class="n">状态</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">味精</span><span class="p">）</span><span class="k">如果</span><span class="n">状态</span><span class="o">! =</span><span class="n">ROBOTCOM_READY</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s1">“连接问题:”</span><span class="o">+</span><span class="n">机器人</span><span class="o">．</span><span class="n">的名字</span><span class="p">（）</span><span class="o">+</span><span class="s1">“:”</span><span class="o">+</span><span class="n">味精</span><span class="p">）</span><span class="n">辞职</span><span class="p">（）</span><span class="c1">#移动机器人(如果我们连接在一起，就是真正的机器人)</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">jnts</span><span class="p">，</span><span class="kc">假</span><span class="p">）</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Disconnect"> <span class="sig-name descname"><span class="pre">断开连接</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Disconnect" title="¶”>¶</一个></dt><dd><p>与真实机器人断开连接(当使用机器人驱动程序时)断开连接成功返回1，失败返回0。例如，如果之前手动断开连接，则可能会失败。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Connect" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Connect ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.ConnectedState" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ConnectedState ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.MoveJ"> <span class="sig-name descname"><span class="pre">MoveJ</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">目标</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">阻塞</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.MoveJ" title="¶”>¶</一个></dt><dd><p>将机器人移动到特定目标(“移动关节”模式)。这个函数等待(阻塞)直到机器人完成它的动作。如果这与程序项一起使用，则将向程序添加新的关节运动指令。重要的注意事项，当添加新的运动指令到程序:只支持目标项目，不支持姿势。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>目标</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，关节列表或<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -移动的目标。它可以是机器人关节(Nx1或1xN)，姿势(4x4)或目标(项目指针)</p></li> <li><p><strong>阻塞</strong>（<em>保龄球</em>-设置为True等待机器人完成移动(默认=True)。设置为false使其成为非阻塞调用。提示:如果设置为False，则使用robot. busy()检查机器人是否仍在移动。</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.MoveL" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveL ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveC" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveC ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.SearchL" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SearchL ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.MoveL"> <span class="sig-name descname"><span class="pre">MoveL</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">目标</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">阻塞</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.MoveL" title="¶”>¶</一个></dt><dd><p>将机器人移动到特定目标(“线性移动”模式)。这个函数等待(阻塞)直到机器人完成它的动作。此函数也可以在程序中调用，并且在程序结束时会添加新的移动指令。如果这与程序项一起使用，则将向程序添加新的线性移动指令。重要的注意事项，当添加新的运动指令到程序:只支持目标项目，不支持姿势。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>目标</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，关节列表或<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -移动的目标。它可以是机器人关节(Nx1或1xN)，姿势(4x4)或目标(项目指针)</p></li> <li><p><strong>阻塞</strong>（<em>保龄球</em>-设置为True等待机器人完成移动(默认=True)。设置为false使其成为非阻塞调用。提示:如果设置为False，则使用robot. busy()检查机器人是否仍在移动。</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.MoveJ" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveJ ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveC" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveC ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.SearchL" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SearchL ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.SearchL"> <span class="sig-name descname"><span class="pre">SearchL</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">目标</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">阻塞</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.SearchL" title="¶”>¶</一个></dt><dd><p>将机器人移动到特定目标，并在检测到特定输入开关时停止(“搜索线性”模式)。这个函数等待(阻塞)直到机器人完成它的动作。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>目标</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，关节列表或<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -移动的目标。它可以是机器人关节(Nx1或1xN)，姿势(4x4)或目标(项目指针)</p></li> <li><p><strong>阻塞</strong>（<em>保龄球</em>-设置为True等待机器人完成移动(默认=True)。设置为false使其成为非阻塞调用。提示:如果设置为False，则使用robot. busy()检查机器人是否仍在移动。</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.MoveJ" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveJ ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveL" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveL ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveC" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveC ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></a></p> </div> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robolink库</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#连接到RoboDK API</span><span class="n">r</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="n">r</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">pose_from</span><span class="p">）</span><span class="c1">#移动到接近点</span><span class="n">r</span><span class="o">．</span><span class="n">SearchL</span><span class="p">（</span><span class="n">pose_to</span><span class="p">）</span><span class="c1">#移动到搜索位置</span><span class="c1">#检索接触点作为关节和姿势:</span><span class="n">targetJoints</span><span class="o">＝</span><span class="n">r</span><span class="o">．</span><span class="n">关节</span><span class="p">（）</span><span class="o">．</span><span class="n">列表</span><span class="p">（）</span><span class="n">targetPose</span><span class="o">＝</span><span class="n">r</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="n">状态</span><span class="o">＝</span><span class="n">r</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“司机”</span><span class="p">，</span><span class="s2">“状态”</span><span class="p">）</span><span class="c1">#状态为“1”表示找到联系人，如果没有找到则为“0”(空字符串表示驱动程序不支持它)</span><span class="k">如果</span><span class="nb">len</span><span class="p">（</span><span class="n">状态</span><span class="p">）</span><span class="o">></span><span class="mi">0</span><span class="p">：</span><span class="c1">#重要!并不是所有的机器人司机都支持这个“司机状态”标志</span><span class="c1">#这在模拟工作</span><span class="k">如果</span><span class="s2">“1”</span><span class="ow">在</span><span class="n">状态</span><span class="p">：</span><span class="c1">#找到联系人!我们已经有了机器人关节和姿态分别为target关节和targetPose</span><span class="k">通过</span><span class="k">其他的</span><span class="p">：</span><span class="c1">#什么也没找到!</span><span class="n">targetJoints</span><span class="o">＝</span><span class="kc">没有一个</span><span class="n">targetPose</span><span class="o">＝</span><span class="kc">没有一个</span><span class="k">其他的</span><span class="p">：</span><span class="c1">#当驱动不支持驱动状态标志时，我们可以使用这个解决方案来检查我们是否发现了干扰</span><span class="c1">#检查我们是否接近终点(对于不支持第一个选项的驱动程序)</span><span class="k">如果</span><span class="n">pose_is_similar</span><span class="p">（</span><span class="n">r</span><span class="o">．</span><span class="n">构成</span><span class="p">()，</span><span class="n">pose_to</span><span class="p">，</span><span class="mf">0．1</span><span class="p">)：</span><span class="c1">机器人无法检测到任何干扰</span><span class="n">targetJoints</span><span class="o">＝</span><span class="kc">没有一个</span><span class="n">targetPose</span><span class="o">＝</span><span class="kc">没有一个</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.MoveC"> <span class="sig-name descname"><span class="pre">MoveC</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">target1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">target2</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">阻塞</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.MoveC" title="¶”>¶</一个></dt><dd><p>移动一个机器人到一个特定的目标(“圆形移动”模式)。默认情况下，这个过程等待(阻塞)直到机器人完成移动。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>target1</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，关节列表或<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -做圆周运动</p></li> <li><p><strong>target2</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，关节列表或<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -最后的圆目标</p></li> <li><p><strong>阻塞</strong>（<em>保龄球</em>-如果指令应该等待机器人完成移动，则为True(默认=True)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.MoveL" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveL ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveC" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveC ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.SearchL" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SearchL ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.MoveJ_Test"> <span class="sig-name descname"><span class="pre">MoveJ_Test</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">j - 1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">j2</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">minstep_deg</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.MoveJ_Test" title="¶”>¶</一个></dt><dd><p>检查关节运动是否可行并且没有碰撞(如果碰撞检查被激活)。如果检测到碰撞，机器人将移动到碰撞点(使用关节收集碰撞关节)，如果未检测到碰撞，机器人将被放置在目标关节处。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>j - 1</strong>（<em>浮子清单</em>) -启动接头</p></li> <li><p><strong>j2</strong>（<em>浮子清单</em>) -端接头</p></li> <li><p><strong>minstep_deg</strong>（<em>浮动</em>) -关节步进度数</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>如果移动没有碰撞或任何其他问题，则返回0。否则，如果发生碰撞，则返回发生碰撞的对象对的数目。</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p>int</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.MoveL_Test" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveL_Test ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.setCollisionActive" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setCollisionActive ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveJ" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveJ ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.MoveJ_Test_Blend"> <span class="sig-name descname"><span class="pre">MoveJ_Test_Blend</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">j - 1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">j2</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">j3</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">blend_deg</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">5</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">minstep_deg</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.MoveJ_Test_Blend" title="¶”>¶</一个></dt><dd><p>检查混合的关节运动是否可行并且没有碰撞(如果碰撞检查被激活)。如果检测到碰撞，机器人将移动到碰撞点(使用关节收集碰撞关节)，如果未检测到碰撞，机器人将被放置在目标关节处。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>j - 1</strong>（<em>浮子清单</em>) -启动接头</p></li> <li><p><strong>j2</strong>（<em>浮子清单</em>) -接头通过</p></li> <li><p><strong>j3</strong>（<em>浮子清单</em>) -连接终点站</p></li> <li><p><strong>blend_deg</strong>（<em>浮动</em>) -混合程度</p></li> <li><p><strong>minstep_deg</strong>（<em>浮动</em>) -以度为单位的最大关节步长</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>如果移动没有碰撞或任何其他问题，则返回0。否则，如果发生碰撞，则返回发生碰撞的对象对的数目。</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p>int</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveJ_Test ()</span></code>，<code class="xref py py-func docutils literal notranslate"><span class="pre">setCollisionActive ()</span></code>，<code class="xref py py-func docutils literal notranslate"><span class="pre">MoveJ ()</span></code>，<code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.MoveL_Test"> <span class="sig-name descname"><span class="pre">MoveL_Test</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">j - 1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">构成</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">minstep_mm</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.MoveL_Test" title="¶”>¶</一个></dt><dd><p>检查线性移动是否可行并且没有碰撞(如果碰撞检查被激活)。如果检测到碰撞，机器人将移动到碰撞点(使用关节收集碰撞关节)，如果未检测到碰撞，机器人将置于目标位姿。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>j - 1</strong>（<em>浮子清单</em>) -启动接头</p></li> <li><p><strong>构成</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -末端姿态(活动工具相对于活动参考系的位置)</p></li> <li><p><strong>minstep_mm</strong>（<em>浮动</em>) -以毫米为单位的线性步长</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>如果移动没有碰撞或任何其他问题，则返回0。</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p>int</p></dd></dl> <p>如果机器人无法达到目标姿态，则返回-2。如果机器人可以到达目标，但不能进行线性运动，则返回-1。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.MoveJ_Test" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveJ_Test ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPoseFrame" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseFrame ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setPoseTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setPoseTool ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.setCollisionActive" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setCollisionActive ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveL" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveL ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddTarget" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddTarget ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setSpeed"> <span class="sig-name descname"><span class="pre">setSpeed</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">speed_linear</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">speed_joints</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">accel_linear</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">accel_joints</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setSpeed" title="¶”>¶</一个></dt><dd><p>设置机器人的线速度。可以提供附加参数来设置线性加速度或关节速度和加速度。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>speed_linear</strong>（<em>浮动</em>) -线性速度->速度毫米/秒(-1 =没有变化)</p></li> <li><p><strong>speed_joints</strong>（<em>浮动</em>-关节速度(可选)->速度(-1 =无变化)</p></li> <li><p><strong>accel_linear</strong>（<em>浮动</em>) -线性加速度(可选)->加速度，单位为mm/s2(-1 =无变化)</p></li> <li><p><strong>accel_joints</strong>（<em>浮动</em>) -关节加速度(可选)->加速度在度/s2(-1 =没有变化)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setAcceleration" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setAcceleration ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setSpeedJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setSpeedJoints ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setAccelerationJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setAccelerationJoints ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setAcceleration"> <span class="sig-name descname"><span class="pre">setAcceleration</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">accel_linear</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setAcceleration" title="¶”>¶</一个></dt><dd><p>设置机器人的线性加速度，单位为mm/s2</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>accel_linear</strong>（<em>浮动</em>) -加速度(单位:mm/s2)</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setSpeed" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setSpeed ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setSpeedJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setSpeedJoints ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setAccelerationJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setAccelerationJoints ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setSpeedJoints"> <span class="sig-name descname"><span class="pre">setSpeedJoints</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">speed_joints</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setSpeedJoints" title="¶”>¶</一个></dt><dd><p>设置机器人的关节速度，旋转关节为deg/s，直线关节为mm/s</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>speed_joints</strong>（<em>浮动</em>) -旋转接头速度单位为deg/s，线性接头速度单位为mm/s</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setSpeed" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setSpeed ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setAcceleration" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setAcceleration ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setAccelerationJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setAccelerationJoints ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setAccelerationJoints"> <span class="sig-name descname"><span class="pre">setAccelerationJoints</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">accel_joints</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setAccelerationJoints" title="¶”>¶</一个></dt><dd><p>设置机器人的关节加速度</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>accel_joints</strong>（<em>浮动</em>) -旋转关节加速度单位为deg/s2，线性关节加速度单位为mm/s2</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setSpeed" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setSpeed ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setAcceleration" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setAcceleration ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setSpeedJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setSpeedJoints ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setRounding"> <span class="sig-name descname"><span class="pre">setRounding</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">rounding_mm</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setRounding" title="¶”>¶</一个></dt><dd><p>设置圆角精度以平滑角的边缘。一般来说，建议在拐角附近允许一个小的近似值来保持恒定的速度。设置大于0的舍入值有助于避免由恒定加速和减速引起的颠簸运动。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>rounding_mm</strong>（<em>浮动</em>) -以毫米为单位的舍入精度。设置为-1(默认)为最佳精度，并有点对点的移动(可能有一个突兀的行为)</p></dd></dl> <p>此舍入参数也称为ZoneData (ABB)， CNT (Fanuc)， C_DIS/ADVANCE (KUKA)，拐角(Mecademic)或混合(Universal Robots)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setSpeed" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setSpeed ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setZoneData"> <span class="sig-name descname"><span class="pre">setZoneData</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">zonedata</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setZoneData" title="¶”>¶</一个></dt><dd><p>过时了。使用<一个类＝”reference internal" href="#robodk.robolink.Item.setRounding" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setRounding ()</span></code></a>代替。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.ShowSequence"> <span class="sig-name descname"><span class="pre">ShowSequence</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">矩阵</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">display_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">超时</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.ShowSequence" title="¶”>¶</一个></dt><dd><p>在RoboDK中显示关节或姿势的序列。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>矩阵</strong>(list of list of float或一个关节矩阵<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -作为矩阵或作为关节数组列表的关节列表。还支持指令序列(与RoKiSim支持的序列相同)。</p></dd></dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Busy"> <span class="sig-name descname"><span class="pre">忙</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Busy" title="¶”>¶</一个></dt><dd><p>检查机器人或程序当前是否正在运行(忙碌或移动)。返回忙碌状态(1=移动，0=停止)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.WaitMove" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">WaitMove ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.RunProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">调用()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.RunCodeCustom" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RunCodeCustom ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.RunInstruction" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RunInstruction ()</span></code></a></p> </div> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robolink库</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#连接到RoboDK API</span><span class="n">掠夺</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">“MainProgram”</span><span class="p">，</span><span class="n">ITEM_TYPE_PROGRAM</span><span class="p">）</span><span class="n">掠夺</span><span class="o">．</span><span class="n">调用</span><span class="p">（）</span><span class="k">而</span><span class="n">掠夺</span><span class="o">．</span><span class="n">忙</span><span class="p">():</span><span class="n">暂停</span><span class="p">（</span><span class="mf">0．1</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“项目完成”</span><span class="p">）</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Stop"> <span class="sig-name descname"><span class="pre">停止</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Stop" title="¶”>¶</一个></dt><dd><p>停止一个程序或机器人</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.RunProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">调用()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveJ" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveJ ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.WaitMove"> <span class="sig-name descname"><span class="pre">WaitMove</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">超时</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">360000</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.WaitMove" title="¶”>¶</一个></dt><dd><p>等待(阻塞)直到机器人完成它的运动。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>超时</strong>（<em>浮动</em>) -等待机器人完成运动的最长时间(以秒为单位)</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Busy" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">忙()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveJ" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveJ ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.WaitFinished"> <span class="sig-name descname"><span class="pre">WaitFinished</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.WaitFinished" title="¶”>¶</一个></dt><dd><p>等待程序完成或机器人完成移动</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.Busy" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">忙()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.ProgramStart"> <span class="sig-name descname"><span class="pre">ProgramStart</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">programname</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">文件夹</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">后处理程序</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.ProgramStart" title="¶”>¶</一个></dt><dd><p>当必须生成程序时，定义程序的名称。可以指定后处理器的名称以及保存程序的文件夹。此方法必须在生成任何程序输出之前(在任何机器人运动或其他程序指令之前)调用。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>progname</strong>（<em>str</em>) -程序名称</p></li> <li><p><strong>文件夹</strong>（<em>str</em>) -文件夹保存程序，保留为空使用默认的程序文件夹</p></li> <li><p><strong>后处理程序</strong>（<em>str</em>) -后期处理器的名称(对于C:/RoboDK/Posts/Fanuc_post.py中的后期处理器，可以提供“Fanuc_post.py”或简单的“Fanuc_post”)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setRunMode" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setRunMode ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setAccuracyActive"> <span class="sig-name descname"><span class="pre">setAccuracyActive</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">准确的</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setAccuracyActive" title="¶”>¶</一个></dt><dd><p>设置机器人激活或非激活的精度。机器人必须经过校准才能正确使用此选项。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>准确的</strong>（<em>int</em>) -设置为1以使用准确模型，或设置为0以使用标称模型</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.AccuracyActive" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AccuracyActive ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.AccuracyActive"> <span class="sig-name descname"><span class="pre">AccuracyActive</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.AccuracyActive" title="¶”>¶</一个></dt><dd><p>如果使用精确的运动学则返回True。经过机器人校准后，可以获得精确的运动学。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setAccuracyActive" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setAccuracyActive ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setParamRobotTool"> <span class="sig-name descname"><span class="pre">setParamRobotTool</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">tool_mass</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">5</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">tool_cog</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setParamRobotTool" title="¶”>¶</一个></dt><dd><p>设置工具质量和重心。这只用于精确的机器人，以提高精度。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>tool_mass</strong>（<em>浮动</em>) -工具重量(以公斤为单位)</p></li> <li><p><strong>tool_cog</strong>（<em>列表</em>) -刀具重心相对于机器人法兰为[x,y,z]</p></li> </ul> </dd> </dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.FilterProgram"> <span class="sig-name descname"><span class="pre">FilterProgram</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">filestr</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.FilterProgram" title="¶”>¶</一个></dt><dd><p>筛选程序文件以提高特定机器人的精度。机器人一定是事先校准过的。如果过滤成功，则返回0，如果存在过滤问题，则返回负值。它还返回筛选的摘要。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>filestr</strong>（<em>str</em>-程序的文件路径。支持的格式包括:JBI (Motoman)， SRC (KUKA)， MOD (ABB)， PRG (ABB)， LS (FANUC)。</p></dd></dl> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.MakeProgram"> <span class="sig-name descname"><span class="pre">MakeProgram</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">folder_path</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">run_mode</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">3.</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.MakeProgram" title="¶”>¶</一个></dt><dd><p>生成程序文件。如果程序成功生成，则返回True。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>pathstr</strong>（<em>str</em>) -保存程序的文件夹(不包括文件名称和扩展名)。确保文件夹以斜杠结束。您可以使用反斜杠或正斜杠来定义路径。在大多数情况下，文件名由程序名定义(在RoboDK树中可见)，扩展名由后处理器定义(文件扩展名必须与机器人控制器支持的扩展名匹配)。它可以为空，以使用默认操作(保存到默认程序位置)</p></li> <li><p><strong>run_mode</strong>—RUNMODE_MAKE_ROBOTPROG，生成程序文件。或者使用RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD或RUNMODE_MAKE_ROBOTPROG_AND_START通过FTP传输程序并执行程序。</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>[success (True or False)， log (str)， transfer_succeeded (True/False)]</p></dd></dl> <p>如果有一个成功的程序传输，则Transfer succeeded为True(如果使用RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD或RUNMODE_MAKE_ROBOTPROG_AND_START)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setRunMode" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setRunMode ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setRunType"> <span class="sig-name descname"><span class="pre">setRunType</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">program_run_type</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setRunType" title="¶”>¶</一个></dt><dd><p>设置程序的运行类型，以指定使用GUI制作的程序将在模拟模式下运行还是在真实机器人上运行(“在机器人上运行”选项)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>program_run_type</strong>（<em>int</em>使用" PROGRAM_RUN_ON_SIMULATOR "将程序设置为只在模拟器上运行，或使用" PROGRAM_RUN_ON_ROBOT "强制程序在机器人上运行</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setRunMode" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setRunMode ()</span></code></a><a class="reference internal" href="#robodk.robolink.Item.RunType" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RunType ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.RunType"> <span class="sig-name descname"><span class="pre">RunType</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.RunType" title="¶”>¶</一个></dt><dd><p>获取程序的运行类型，以指定使用GUI编写的程序将在模拟模式下运行还是在真实机器人上运行(“Run on robot”选项)。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.setRunMode" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setRunMode ()</span></code></a><a class="reference internal" href="#robodk.robolink.Item.setRunType" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setRunType ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.RunProgram"> <span class="sig-name descname"><span class="pre">调用</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">prog_parameters</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.RunProgram" title="¶”>¶</一个></dt><dd><p>过时了。使用<一个类＝”reference internal" href="#robodk.robolink.Item.RunCode" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RunCode ()</span></code></a>代替。RunProgram可用于向后兼容。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.RunCode"> <span class="sig-name descname"><span class="pre">RunCode</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">prog_parameters</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.RunCode" title="¶”>¶</一个></dt><dd><p>运行一个程序。它返回可以成功执行的指令数(在程序启动之前执行快速程序检查)。这是一个非阻塞调用。使用program. busy()检查程序执行是否完成，或者使用program. waitfinished()等待程序执行完成。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>prog_parameters</strong>（<em>STR清单</em>程序参数可以作为字符串提供给Python程序</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.RunCodeCustom" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RunCodeCustom ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Busy" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">忙()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a></p> </div> <p>如果使用setRunMode(RUNMODE_SIMULATE):程序将被模拟(默认运行模式)</p><p>如果使用setRunMode(RUNMODE_RUN_ROBOT):程序将在机器人上运行(使用RUNMODE_RUN_ROBOT时为默认值)</p><p>如果setRunMode(RUNMODE_RUN_ROBOT)与program. setruntype (PROGRAM_RUN_ON_ROBOT) ->一起使用，程序将按顺序在机器人上运行，就像我们在RoboDK GUI中右键单击程序并选择“run on robot”一样</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.RunCodeCustom"> <span class="sig-name descname"><span class="pre">RunCodeCustom</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">代码</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">run_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.RunCodeCustom" title="¶”>¶</一个></dt><dd><p>过时，改用RunInstruction。向程序中添加程序调用、代码、消息或注释。如果成功返回0。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.RunInstruction" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RunInstruction ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.RunInstruction"> <span class="sig-name descname"><span class="pre">RunInstruction</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">代码</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">run_type</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.RunInstruction" title="¶”>¶</一个></dt><dd><p>向程序中添加程序调用、代码、消息或注释。如果成功返回0。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>代码</strong>（<em>str</em>) -要插入的代码，要运行的程序，或要添加的注释。</p></li> <li><p><strong>run_type</strong>（<em>int</em>-使用INSTRUCTION_*变量指定代码是程序调用还是原始代码插入。例如，要添加一行自定义代码，使用:</p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="id21"> <div class="code-block-caption"> <span class="caption-text">可用的指令类型</span> <a class="headerlink" href="#id21" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">INSTRUCTION_CALL_PROGRAM</span><span class="o">＝</span><span class="mi">0</span><span class="c1">#程序调用</span><span class="n">INSTRUCTION_INSERT_CODE</span><span class="o">＝</span><span class="mi">1</span><span class="c1">在生成的程序中插入原始代码</span><span class="n">INSTRUCTION_START_THREAD</span><span class="o">＝</span><span class="mi">2</span><span class="c1">#启动一个新进程</span><span class="n">INSTRUCTION_COMMENT</span><span class="o">＝</span><span class="mi">3.</span><span class="c1">在代码中添加注释</span><span class="n">INSTRUCTION_SHOW_MESSAGE</span><span class="o">＝</span><span class="mi">4</span><span class="c1">#添加消息</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.RunCode" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RunCode ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a></p> </div> <p>例子:</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">程序</span><span class="o">．</span><span class="n">RunInstruction</span><span class="p">（</span><span class="s1">“主轴转速设置”</span><span class="p">，</span><span class="n">INSTRUCTION_COMMENT</span><span class="p">）</span><span class="n">程序</span><span class="o">．</span><span class="n">RunInstruction</span><span class="p">（</span><span class="s1">“SetRPM(25000)”</span><span class="p">，</span><span class="n">INSTRUCTION_INSERT_CODE</span><span class="p">）</span><span class="n">程序</span><span class="o">．</span><span class="n">RunInstruction</span><span class="p">（</span><span class="s1">设定好主轴转速。准备出发了!”</span><span class="p">，</span><span class="n">INSTRUCTION_SHOW_MESSAGE</span><span class="p">）</span><span class="n">程序</span><span class="o">．</span><span class="n">RunInstruction</span><span class="p">（</span><span class="s1">“Program1”</span><span class="p">，</span><span class="n">INSTRUCTION_CALL_PROGRAM</span><span class="p">）</span></pre> </div> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Pause"> <span class="sig-name descname"><span class="pre">暂停</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">time_ms</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Pause" title="¶”>¶</一个></dt><dd><p>为机器人暂停指令或向程序插入暂停指令(当生成代码时-离线编程-或当连接到机器人时-在线编程-)。2022世界杯8强赛时间</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>time_ms</strong>（<em>浮动</em>-以毫秒为单位的时间。不要提供一个值(保留默认值-1)来暂停，直到用户希望恢复程序的执行。</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setDO"> <span class="sig-name descname"><span class="pre">setDO</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">io_var</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">io_value</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setDO" title="¶”>¶</一个></dt><dd><p>设置数字输出(DO)。此命令还可用于将任何通用变量设置为所需的值。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>io_var</strong>（<em>str</em><em>或</em><em>int</em>) -数字输出(字符串或数字)</p></li> <li><p><strong>io_value</strong>（<em>str</em><em>，</em><em>int</em><em>或</em><em>浮动</em>) -值</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setAO" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setAO ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.getDI" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getDI ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.getAI" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getAI ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setAO"> <span class="sig-name descname"><span class="pre">setAO</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">io_var</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">io_value</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setAO" title="¶”>¶</一个></dt><dd><p>设置模拟输出(AO)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>io_var</strong>（<em>str</em><em>或</em><em>int</em>) -模拟输出(字符串或数字)</p></li> <li><p><strong>io_value</strong>（<em>str</em><em>，</em><em>int</em><em>或</em><em>浮动</em>) -值</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setDO" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setDO ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.getDI" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getDI ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.getAI" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getAI ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.getDI"> <span class="sig-name descname"><span class="pre">getDI</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">io_var</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.getDI" title="¶”>¶</一个></dt><dd><p>获得数字输入(DI)。这个函数只有在使用机器人驱动程序连接到真正的机器人时才有用。它返回一个与数字输入状态相关的字符串(1=True, 0=False)。如果脚本没有在机器人上执行，这个函数返回一个空字符串。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>io_var</strong>（<em>str</em><em>或</em><em>int</em>) -数字输入(字符串或数字)</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.getAI" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getAI ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setDO" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setDO ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setAO" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setAO ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.getAI"> <span class="sig-name descname"><span class="pre">getAI</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">io_var</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.getAI" title="¶”>¶</一个></dt><dd><p>获得模拟输入(AI)。这个函数只有在使用机器人驱动程序连接到真正的机器人时才有用。它返回一个与数字输入状态相关的字符串(0-1或其他范围，取决于机器人驱动程序)。如果脚本没有在机器人上执行，这个函数返回一个空字符串。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>io_var</strong>（<em>str</em><em>或</em><em>int</em>) -模拟输入(字符串或数字)</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.getDI" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getDI ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setDO" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setDO ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setAO" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setAO ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.waitDI"> <span class="sig-name descname"><span class="pre">waitDI</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">io_var</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">io_value</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">timeout_ms</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.waitDI" title="¶”>¶</一个></dt><dd><p>等待数字输入io_var获得给定值io_value。可以选择提供一个超时。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>io_var</strong>（<em>str</em><em>或</em><em>int</em>) -数字输入(字符串或数字)</p></li> <li><p><strong>io_value</strong>（<em>str</em><em>，</em><em>int</em><em>或</em><em>浮动</em>) -值</p></li> <li><p><strong>timeout_ms</strong>（<em>int</em><em>或</em><em>浮动</em>) -超时时间，单位为毫秒</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.customInstruction"> <span class="sig-name descname"><span class="pre">customInstruction</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">的名字</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">path_run</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">path_icon</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">阻塞</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">cmd_run_on_robot</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.customInstruction" title="¶”>¶</一个></dt><dd><p>添加一条自定义指令。此指令将执行一个Python文件或可执行文件。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>的名字</strong>（<em>str</em><em>或</em><em>int</em>-指令的名称</p></li> <li><p><strong>path_run</strong>（<em>str</em>-可执行文件或要运行的Python脚本的路径(相对于RoboDK/bin/文件夹或绝对路径)</p></li> <li><p><strong>path_icon</strong>（<em>str</em>指令图像/图标路径(相对于RoboDK/bin/文件夹或绝对路径)</p></li> <li><p><strong>阻塞</strong>（<em>int</em>) - 1如果阻塞，0如果它是非阻塞的可执行触发器</p></li> <li><p><strong>cmd_run_on_robot</strong>（<em>str</em>) -连接到机器人后发送给驱动器的命令</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.addMoveJ"> <span class="sig-name descname"><span class="pre">addMoveJ</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">技能</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.addMoveJ" title="¶”>¶</一个></dt><dd><p>向程序中添加新的机器人关节移动指令。这个函数已经过时了。使用MoveJ代替。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>技能</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -目标项目移动到</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveJ" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveJ ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.addMoveL"> <span class="sig-name descname"><span class="pre">addMoveL</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">技能</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.addMoveL" title="¶”>¶</一个></dt><dd><p>将新的线性移动指令添加到程序中。这个函数已经过时了。使用MoveL代替。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>技能</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -目标项目移动到</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveL" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveL ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.addMoveC"> <span class="sig-name descname"><span class="pre">addMoveC</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">itemtarget1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">itemtarget2</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.addMoveC" title="¶”>¶</一个></dt><dd><p>向程序中添加新的循环移动指令(此函数已过时。使用MoveL代替。)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>技能</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -目标项目移动到</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveL" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveL ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.MoveC" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">MoveC ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.ShowInstructions"> <span class="sig-name descname"><span class="pre">ShowInstructions</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">显示</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.ShowInstructions" title="¶”>¶</一个></dt><dd><p>在RoboDK树中显示或隐藏程序的指令项</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>显示</strong>（<em>保龄球</em>-设置为True显示指令节点，否则设置为False</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.ShowTargets" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ShowTargets ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.ShowTargets"> <span class="sig-name descname"><span class="pre">ShowTargets</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">显示</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.ShowTargets" title="¶”>¶</一个></dt><dd><p>在RoboDK树中显示或隐藏一个程序的目标</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>显示</strong>（<em>保龄球</em>-设置为False删除目标项(目标不会被删除，因为它仍然在程序中)，否则，设置为True显示目标</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.ShowInstructions" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ShowInstructions ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.InstructionCount"> <span class="sig-name descname"><span class="pre">InstructionCount</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.InstructionCount" title="¶”>¶</一个></dt><dd><p>返回程序的指令数。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.InstructionSelect"> <span class="sig-name descname"><span class="pre">InstructionSelect</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">ins_id</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.InstructionSelect" title="¶”>¶</一个></dt><dd><p>选择程序中的一条指令作为引用，以添加新指令。新指令将被添加到所选指令之后。如果没有指定指令ID，则将选择并返回活动指令。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.InstructionDelete"> <span class="sig-name descname"><span class="pre">InstructionDelete</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">ins_id</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.InstructionDelete" title="¶”>¶</一个></dt><dd><p>删除一个程序的指令</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Instruction"> <span class="sig-name descname"><span class="pre">指令</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">ins_id</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Instruction" title="¶”>¶</一个></dt><dd><p>返回当前程序指令或给定指令id的指令(如果提供)。它返回一条指令的以下信息:</p><ul class="simple"> <li><p>name:指令的名称(显示在RoboDK树中)</p></li> <li><p>instype:指令类型(INS_TYPE_*)。例如，INS_TYPE_MOVE表示移动指令。</p></li> <li><p>movetype: INS_TYPE_MOVE指令的移动类型:MOVE_TYPE_JOINT表示关节移动，MOVE_TYPE_LINEAR表示线性移动</p></li> <li><p>Isjointtarget: 1如果目标是在关节空间中指定的，否则，目标是在笛卡尔空间中指定的(通过姿态)</p></li> <li><p>目标:目标的姿态为<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p></li> <li><p>关节:该目标的机器人关节</p></li> </ul> <dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>ins_id</strong>（<em>int</em>-要返回的指令id</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.setInstruction" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setInstruction ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.InstructionDelete" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">InstructionDelete ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setInstruction"> <span class="sig-name descname"><span class="pre">setInstruction</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">ins_id</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">的名字</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">instype</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">movetype</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">isjointtarget</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">目标</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">关节</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setInstruction" title="¶”>¶</一个></dt><dd><p>更新一个程序指令。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>ins_id</strong>（<em>int</em>)——指令的索引(第一条指令为0，第二条指令为1，依此类推)</p></li> <li><p><strong>的名字</strong>（<em>str</em>指令的名称(显示在RoboDK树中)</p></li> <li><p><strong>instype</strong>（<em>int</em>) -指令类型。INS_TYPE_ *</p></li> <li><p><strong>movetype</strong>（<em>int</em>如果指令是一个移动(MOVE_TYPE_JOINT或MOVE_TYPE_LINEAR)，则是移动的类型。</p></li> <li><p><strong>isjointtarget</strong>（<em>int</em>) - 1如果目标定义在关节空间中，否则表示目标定义在笛卡尔空间中(通过姿态)</p></li> <li><p><strong>目标</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -目标姿态</p></li> <li><p><strong>关节</strong>（<em>浮子清单</em>) -机器人关节为目标</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.Instruction" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">指令()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.Update"> <span class="sig-name descname"><span class="pre">更新</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">check_collisions</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">timeout_sec</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">3600</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">mm_step</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">deg_step</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">-</span><span class="pre">1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.Update" title="¶”>¶</一个></dt><dd><p>更新程序并返回估计的时间和有效指令的数量。更新也可以应用于机器人加工项目。对生成的程序执行更新。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>check_collisions</strong>（<em>int</em>检查碰撞(COLLISION_ON -yes- or COLLISION_OFF -no-)</p></li> <li><p><strong>timeout_sec</strong>（<em>int</em>等待更新完成的最大时间(以秒为单位)</p></li> <li><p><strong>mm_step</strong>（<em>浮动</em>步进mm来分割程序(-1表示默认，在工具-选项-运动中指定)</p></li> <li><p><strong>deg_step</strong>（<em>浮动</em>(-1表示默认，在工具-选项-运动中指定)</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>[valid_instructions, program_time, program_distance, valid_ratio, readable_msg]</p></dd></dl> <p>valid_instructions:有效指令的数量</p><p>program_time:估计周期时间(以秒为单位)</p><p>program_distance:机器人TCP移动的估计距离(单位:mm)</p><p>v一个lid_ratio:这是一个从[0.00到1.00]的比值，表示路径是否可以完全完成而没有任何问题(1.0表示路径100%可行)，或者如果路径上存在问题，valid_ratio <1.0。</p><p>如果在加工项目上调用Update，并且加工项目不能成功实现，valid_ratio将< 0。</p><p>Readable_msg:作为字符串的可读消息</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Robolink.AddProgram" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">AddProgram ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.InstructionList"> <span class="sig-name descname"><span class="pre">InstructionList</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.InstructionList" title="¶”>¶</一个></dt><dd><p>返回一个MxN矩阵的程序指令列表，其中N是指令的数量，M等于1加上机器人轴的数量。这是RoKiSim曾经支持的等效序列。提示:使用RDK.ShowSequence(矩阵)来双分段一个联合列表或一个RoKiSim指令序列。</p><p>Out 1:返回矩阵</p><p>Out 2:如果程序没有问题，则返回0</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.ShowSequence" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ShowSequence ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Item.InstructionListJoints" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">InstructionListJoints ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.InstructionListJoints"> <span class="sig-name descname"><span class="pre">InstructionListJoints</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">mm_step</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">10</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">deg_step</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">5</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">save_to_file</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">collision_check</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">旗帜</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">time_step</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0．1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.InstructionListJoints" title="¶”>¶</一个></dt><dd><p>返回一个MxN矩阵的关节列表，其中M是机器人轴的数量加上4列。线性移动根据程序内部设置的平滑参数进行四舍五入。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>mm_step</strong>（<em>浮动</em>) -步进毫米分割线性运动</p></li> <li><p><strong>deg_step</strong>（<em>浮动</em>) -台阶在程度上分裂关节运动</p></li> <li><p><strong>save_to_file</strong>（<em>str</em>) -(可选)将结果保存为逗号分隔值(CSV)文件。如果没有提供文件名，它将返回矩阵。如果步长值非常小，返回的矩阵可能非常大。</p></li> <li><p><strong>collision_check</strong>（<em>int</em>) -(可选)检查碰撞</p></li> <li><p><strong>旗帜</strong>（<em>int</em>) -(可选)设置为1，包括运动之间的时间，设置为2，也包括关节速度(度/秒)，设置为3，也包括加速度，设置为4，包括所有之前的信息，并使分割基于时间。</p></li> <li><p><strong>time_step</strong>（<em>浮动</em>) -(可选)设置时间步长，以秒为单位进行时间计算</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>[message (str)， joint_list (<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>)，状态(int)</p></dd></dl> <p>输出:</p><ul class="simple"> <li><p>message (str):返回一个人类可读的错误消息(如果有的话)。</p></li> <li><p>joint_list (<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>):包含所有联合信息和相应的步长、时间戳、速度等信息的二维矩阵。每个条目是一列。</p></li> <li><p>status (int):如果存在程序问题(奇点、轴限制、目标未正确定义或激活时发生冲突)，则状态为负。否则返回可成功执行的指令数。</p></li> </ul> <p>它还返回关节的列表，如[J1, J2，…，Jn, ERROR, MM_STEP, DEG_STEP, MOVE_ID, TIME, X,Y,Z]，如果提供了保存结果的文件路径，则返回文件名。默认单位为MM和DEG。使用列表(<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>)以提取列表中的每一列。ERROR作为int返回，但需要将其解释为二进制数。</p><d我v类＝”literal-block-wrapper docutils container" id="id22"> <div class="code-block-caption"> <span class="caption-text">错误位掩码</span> <a class="headerlink" href="#id22" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#如果error不为0，使用以下位掩码检查二进制错误</span><span class="n">error_bin</span><span class="o">＝</span><span class="nb">int</span><span class="p">（</span><span class="nb">str</span><span class="p">（</span><span class="n">错误</span><span class="p">)，</span><span class="mi">2</span><span class="p">）</span><span class="n">ERROR_KINEMATIC</span><span class="o">＝</span><span class="mb">0 b001</span><span class="c1">路径中的一个或多个点不可达</span><span class="n">ERROR_PATH_LIMIT</span><span class="o">＝</span><span class="mb">0 b010</span><span class="c1">路径达到关节轴极限</span><span class="n">ERROR_PATH_NEARSINGULARITY</span><span class="o">＝</span><span class="mb">0 b1000</span><span class="c1">#机器人太接近手腕奇点(J5)。降低奇异公差以允许机器人继续。</span><span class="n">ERROR_PATH_SINGULARITY</span><span class="o">＝</span><span class="mb">0 b100</span><span class="c1">机器人到达了一个奇点</span><span class="n">ERROR_COLLISION</span><span class="o">＝</span><span class="mb">0 b100000</span><span class="c1">#检测到碰撞</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.ShowSequence" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ShowSequence ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.getParam"> <span class="sig-name descname"><span class="pre">getParam</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">参数</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.getParam" title="¶”>¶</一个></dt><dd><p>从此项获取自定义二进制数据。使用setParam来设置数据。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>参数</strong>（<em>str</em>) -参数名称</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.setParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParam ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robolink.Item.setParam"> <span class="sig-name descname"><span class="pre">setParam</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">参数</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">价值</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolink.Item.setParam" title="¶”>¶</一个></dt><dd><p>设置具体的项目参数。</p><p>选择<strong>工具-运行脚本-显示命令</strong>查看项目和车站的所有可用命令。</p><p>注意:对于需要JSON字符串值的参数(命令)，您还可以提供dict。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>参数</strong>（<em>str</em>-参数/命令名称</p></li> <li><p><strong>价值</strong>（<em>str</em>-参数值(可选，不是所有命令都需要值)。如果value为bytes，则将自定义数据存储到给定参数名称的项中。</p></li> </ul> </dd> </dl> <div class="literal-block-wrapper docutils container" id="id23"> <div class="code-block-caption"> <span class="caption-text">展开或折叠树中的项的示例</span> <a class="headerlink" href="#id23" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="kn">进口</span><span class="nn">时间</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#启动RoboDK API</span><span class="c1">#如何展开或折叠树中的项</span><span class="n">项</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s2">“选择项目”</span><span class="p">）</span><span class="n">项</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“树”</span><span class="p">，</span><span class="s2">“扩大”</span><span class="p">）</span><span class="n">时间</span><span class="o">．</span><span class="n">睡眠</span><span class="p">（</span><span class="mi">2</span><span class="p">）</span><span class="n">项</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“树”</span><span class="p">，</span><span class="s2">“崩溃”</span><span class="p">）</span></pre> </div> </div> </div> <div class="literal-block-wrapper docutils container" id="id24"> <div class="code-block-caption"> <span class="caption-text">更改后置处理器的示例</span> <a class="headerlink" href="#id24" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s2">“选择一个机器人”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">#设置机器人post处理器(post文件夹中的py文件名称)</span><span class="n">机器人</span><span class="o">．</span><span class="n">setParam</span><span class="p">（</span><span class="s2">“后处理程序”</span><span class="p">，</span><span class="s2">“Fanuc_RJ3”</span><span class="p">）</span></pre> </div> </div> </div> <div class="literal-block-wrapper docutils container" id="id25"> <div class="code-block-caption"> <span class="caption-text">更改显示样式的示例</span> <a class="headerlink" href="#id25" title="¶”>¶</一个></d我v><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="c1">#如何改变一个对象的显示风格(颜色为AARRGGBB):</span><span class="n">obj</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">ItemUserPick</span><span class="p">（</span><span class="s1">选择一个对象来改变样式</span><span class="p">，</span><span class="n">ITEM_TYPE_OBJECT</span><span class="p">）</span><span class="c1">将点显示为给定大小的简单点(适用于快速渲染或大点云)</span><span class="c1">#颜色定义为AARRGGBB</span><span class="n">obj</span><span class="o">．</span><span class="n">setValue</span><span class="p">（</span><span class="s1">“显示”</span><span class="p">，</span><span class="s1">“POINTSIZE = 4颜色= # FF771111”</span><span class="p">）</span><span class="c1">将每个点显示为给定尺寸的立方体(单位为mm)</span><span class="n">obj</span><span class="o">．</span><span class="n">setValue</span><span class="p">（</span><span class="s1">“显示”</span><span class="p">，</span><span class="s1">“粒子=立方(0.2,0.2,0.2)颜色= # FF771111 '</span><span class="p">）</span><span class="c1">#另一种方法改变显示风格的点显示为一个球体(大小，圆环):</span><span class="n">obj</span><span class="o">．</span><span class="n">setValue</span><span class="p">（</span><span class="s1">“显示”</span><span class="p">，</span><span class="s1">'粒子=球(4、8)=红色的</span><span class="p">）</span><span class="c1">更改显示曲线的大小。</span><span class="n">obj</span><span class="o">．</span><span class="n">setValue</span><span class="p">（</span><span class="s1">“显示”</span><span class="p">，</span><span class="s1">“LINEW = 4”</span><span class="p">）</span><span class="c1">更多改变点和曲线外观的例子:</span><span class="n">https</span><span class="p">：</span><span class="o">//</span><span class="n">github</span><span class="o">．</span><span class="n">com</span><span class="o">/</span><span class="n">RoboDK</span><span class="o">/</span><span class="n">插头</span><span class="o">-</span><span class="n">在</span><span class="o">-</span><span class="n">接口</span><span class="o">/</span><span class="n">树</span><span class="o">/</span><span class="n">主</span><span class="o">/</span><span class="n">PluginAppLoader</span><span class="o">/</span><span class="n">应用程序</span><span class="o">/</span><span class="n">SetStyle</span></pre> </div> </div> </div> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robolink.Item.getParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">getParam ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robolink.Robolink.Command" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">命令()</span></code></a>(Robolink),<一个类＝”reference internal" href="#robodk.robolink.Robolink.setParam" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">setParam ()</span></code></a>(Robolink:站参数)</p></d我v></dd> </dl> </dd> </dl> </div> <div class="section" id="robomath-py"> <span id="robomath"></span> <h2><span class="section-number">2.2.</span>robomath.py<一个类＝”headerlink" href="#robomath-py" title="¶”>¶</一个></h2> <p>robomath模块是Python的机器人工具箱，基于Peter Corke的机器人工具箱(关于姿态转换):<一个href="https://petercorke.com/toolboxes/robotics-toolbox/" class="reference external">https://petercorke.com/toolboxes/robotics-toolbox/</一个>．robomath子模块包括Mat类，用于表示3D转换。</p><p>下面的页面提供了用于Python的RoboDK API的简要概述:<一个类＝”reference external" href="//www.sinclairbody.com/offline-programming">//www.sinclairbody.com/offline-programming</一个></p><p>关于RoboDK API的摘要可以在文档中找到:<一个类＝”reference external" href="//www.sinclairbody.com/doc/en/RoboDK-API.html">//www.sinclairbody.com/doc/en/RoboDK-API.html</一个></p><span class="target" id="module-robodk.robomath"></span> <dl class="py data"> <dt class="sig sig-object py" id="robodk.robomath.pi"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">π</span></span> <em class="property"><span class="w"></span><span class="p"><span class="pre">＝</span></span><span class="w"></span><span class="pre">3.141592653589793</span></em> <a class="headerlink" href="#robodk.robomath.pi" title="¶”>¶</一个></dt><dd><p>π</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.pause"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">暂停</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">秒</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.pause" title="¶”>¶</一个></dt><dd><p>以秒为单位</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>暂停</strong>（<em>浮动</em>) -时间单位为秒</p></dd></dl> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.sqrt"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">√6</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">价值</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.sqrt" title="¶”>¶</一个></dt><dd><p>返回一个值的平方根</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.sqrtA"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">sqrtA</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">价值</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.sqrtA" title="¶”>¶</一个></dt><dd><p>如果值大于0，则返回值的平方根，否则为0(与IEEE-754不同)。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.sin"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">罪</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">价值</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.sin" title="¶”>¶</一个></dt><dd><p>返回以弧度为单位的角度的正弦值</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.cos"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">因为</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">价值</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.cos" title="¶”>¶</一个></dt><dd><p>返回以弧度为单位的角度余弦值</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.tan"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">棕褐色</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">价值</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.tan" title="¶”>¶</一个></dt><dd><p>返回一个角度的正切(以弧度为单位)</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.asin"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">印度历的7月</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">价值</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.asin" title="¶”>¶</一个></dt><dd><p>以弧度为单位返回arcsin</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.acos"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">这些“可信赖医疗组织”</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">价值</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.acos" title="¶”>¶</一个></dt><dd><p>以弧度为单位返回弧余弦</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.atan2"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">量化</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">x</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.atan2" title="¶”>¶</一个></dt><dd><p>返回XY平面上二维坐标的角度</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.name_2_id"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">name_2_id</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">str_name_id</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.name_2_id" title="¶”>¶</一个></dt><dd><p>返回已编号对象的编号。例如:“Frame3”，“Frame3”，“Fram3 3”返回3。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.rotx"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">rotx</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">处方</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.rotx" title="¶”>¶</一个></dt><dd><p>返回一个围绕X轴的旋转矩阵(弧度)</p><d我v类＝”米一个th"> <p><img src="//www.sinclairbody.com/doc/en/PythonAPI/_images/math/7ca72616b589234e41d7b629811f2500b4fbf801.svg" alt="R_x(\theta) = \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & c_\theta & -s_\theta & 0 \\ 0 & s_\theta & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix}”></p></d我v><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>处方</strong>（<em>浮动</em>) -以弧度绕X轴旋转</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.transl" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">transl ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.roty" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">roty ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.roty" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">roty ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.roty"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">roty</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">变化中</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.roty" title="¶”>¶</一个></dt><dd><p>返回一个围绕Y轴的旋转矩阵(弧度)</p><d我v类＝”米一个th"> <p><img src="//www.sinclairbody.com/doc/en/PythonAPI/_images/math/b3be568c48c836b50a470d2d843e84b7c7d97fa6.svg" alt="R_y(\theta) = \begin{bmatrix} c_\theta & 0 & s_\theta & 0 \\ 0 & 1 & 0 & 0 \\ -s_\theta & 0 & c_\theta & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix}”></p></d我v><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>变化中</strong>（<em>浮动</em>) -以弧度为单位绕Y轴旋转</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.transl" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">transl ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.rotx" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotx ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.rotz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotz ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.rotz"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">rotz</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">rz</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.rotz" title="¶”>¶</一个></dt><dd><p>返回一个围绕Z轴的旋转矩阵(弧度)</p><d我v类＝”米一个th"> <p><img src="//www.sinclairbody.com/doc/en/PythonAPI/_images/math/06ba83345d2cdf29a91cef20fc4c0ab8c92a956f.svg" alt="R_x(\theta) = \begin{bmatrix} c_\theta & -s_\theta & 0 & 0 \\ s_\theta & c_\theta & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix}”></p></d我v><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>变化中</strong>（<em>浮动</em>) -以弧度为单位绕Y轴旋转</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.transl" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">transl ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.rotx" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotx ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.roty" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">roty ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.transl"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">transl</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">tx</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">泰</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">tz</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.transl" title="¶”>¶</一个></dt><dd><p>返回一个转换矩阵(mm)</p><d我v类＝”米一个th"> <p><img src="//www.sinclairbody.com/doc/en/PythonAPI/_images/math/0607c9339977e3424f5ea2f8534852372cf775ba.svg" alt="T(t_x, t_y, t_z) = \begin{bmatrix} 1 & 0 & 0 & t_x \\ 0 & 1 & t_y \\ 0 & 0 & 1 & t_z \\ 0 & 0 & 0 & 1 \end{bmatrix}”></p></d我v><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>tx</strong>（<em>浮动</em>) -沿X轴的平移</p></li> <li><p><strong>泰</strong>（<em>浮动</em>) -沿Y轴平移</p></li> <li><p><strong>tz</strong>（<em>浮动</em>) -沿Z轴平移</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.rotx" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotx ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.roty" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">roty ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.rotz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotz ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.RelTool"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">RelTool</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">target_pose</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">x</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">y</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">z</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">处方</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">变化中</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">rz</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.RelTool" title="¶”>¶</一个></dt><dd><p>计算相对于工具坐标的相对目标。这个过程与ABB的RelTool指令具有完全相同的行为。X,Y,Z的单位是毫米，W,P,R的单位是度。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>x</strong>（<em>浮动</em>) -沿工具X轴平移(mm)</p></li> <li><p><strong>y</strong>（<em>浮动</em>) -沿工具Y轴平移(mm)</p></li> <li><p><strong>z</strong>（<em>浮动</em>) -沿工具Z轴平移(mm)</p></li> <li><p><strong>处方</strong>（<em>浮动</em>) -绕工具X轴旋转(度)(可选)</p></li> <li><p><strong>变化中</strong>（<em>浮动</em>) -绕工具Y轴旋转(度)(可选)</p></li> <li><p><strong>rz</strong>（<em>浮动</em>-绕工具Z轴旋转(度)(可选)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Offset" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">抵消()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.transl" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">transl ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.rotx" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotx ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.roty" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">roty ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.rotz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotz ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Offset"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">抵消</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">target_pose</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">x</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">y</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">z</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">处方</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">变化中</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">rz</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Offset" title="¶”>¶</一个></dt><dd><p>根据参考系坐标计算一个相对目标。X,Y,Z的单位是毫米，RX,RY,RZ的单位是度。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>x</strong>（<em>浮动</em>) -沿参考X轴平移(mm)</p></li> <li><p><strong>y</strong>（<em>浮动</em>) -沿参考Y轴平移(mm)</p></li> <li><p><strong>z</strong>（<em>浮动</em>) -沿参考Z轴平移(mm)</p></li> <li><p><strong>处方</strong>（<em>浮动</em>) -绕参考X轴旋转(度)(可选)</p></li> <li><p><strong>变化中</strong>（<em>浮动</em>) -绕参考Y轴旋转(度)(可选)</p></li> <li><p><strong>rz</strong>（<em>浮动</em>) -绕参考Z轴旋转(度)(可选)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.RelTool" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RelTool ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.transl" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">transl ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.rotx" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotx ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.roty" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">roty ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.rotz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotz ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.point_Zaxis_2_pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">point_Zaxis_2_pose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">点</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">z轴</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">yaxis_hint1</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">[0,</span><span class="pre">0，</span><span class="pre">1]</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">yaxis_hint2</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">[0,</span><span class="pre">1，</span><span class="pre">1]</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.point_Zaxis_2_pose" title="¶”>¶</一个></dt><dd><p>返回一个给定原点为点的姿态，一个Z轴和一个Y轴的首选方向</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.eye"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">眼睛</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">大小</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">4</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.eye" title="¶”>¶</一个></dt><dd><p>返回单位矩阵。</p><d我v类＝”米一个th"> <p><img src="//www.sinclairbody.com/doc/en/PythonAPI/_images/math/43c3a5d3f9ffe2c6ec0fb99b2e6b85ab3d83f867.svg" alt="T(t_x, t_y, t_z) = \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix}”></p></d我v><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>大小</strong>（<em>int</em>) -方阵大小(默认4x4单位矩阵，否则初始化为0)</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.transl" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">transl ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.rotx" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotx ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.roty" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">roty ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.rotz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotz ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.size"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">大小</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">矩阵</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">昏暗的</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.size" title="¶”>¶</一个></dt><dd><p>返回一个矩阵的大小(m,n)。Dim可以设置为0返回m(行)或1返回n(列)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>矩阵</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></li> <li><p><strong>昏暗的</strong>（<em>int</em>) -尺寸</p></li> </ul> </dd> </dl> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.tr"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">tr</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">矩阵</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.tr" title="¶”>¶</一个></dt><dd><p>返回矩阵的转置</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>矩阵</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.invH"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">invH</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">矩阵</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.invH" title="¶”>¶</一个></dt><dd><p>返回齐次矩阵的逆</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>矩阵</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.transl" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">transl ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.rotx" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotx ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.roty" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">roty ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.rotz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">rotz ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.catV"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">有线电视</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">mat1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">mat2</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.catV" title="¶”>¶</一个></dt><dd><p>串联2个矩阵(垂直串联)</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.catH"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">导管</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">mat1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">mat2</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.catH" title="¶”>¶</一个></dt><dd><p>串联2个矩阵(水平串联)</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.tic"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">抽搐</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.tic" title="¶”>¶</一个></dt><dd><p>开始计时秒表</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.toc"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">toc</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.toc" title="¶”>¶</一个></dt><dd><p>阅读秒表计时器</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.PosePP"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">PosePP</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">x</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">y</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">z</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">r</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">p</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">w</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.PosePP" title="¶”>¶</一个></dt><dd><p>从XYZRPW坐标创建一个姿势。姿态格式是KUKA使用的格式(XYZABC坐标)。这个函数与KUKA_2_Pose相同(不同的是输入值不是一个列表)。该函数在生成机器人程序时被中间文件用作“p”。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.KUKA_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">KUKA_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.pose_2_xyzrpw"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">pose_2_xyzrpw</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">H</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.pose_2_xyzrpw" title="¶”>¶</一个></dt><dd><p>计算等效位置(mm)和欧拉角(deg)作为一个[x,y,z,r,p,w]数组，给定一个姿态。它返回对应于以下操作的值:transl(x,y,z)*rotz(w*pi/180)*roty(p*pi/180)*rotx(r*pi/180)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>H</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd><dt类＝”field-even"> 返回</dt><dd类＝”field-even"> <p>[x,y,z,w,p,r]的毫米和度</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.xyzrpw_2_pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">xyzrpw_2_pose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">xyzrpw</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.xyzrpw_2_pose" title="¶”>¶</一个></dt><dd><p>给定一个[x,y,z,r,p,w]数组，根据位置(mm)和欧拉角(deg)计算姿态。结果与调用:H = transl(x,y,z)*rotz(w*pi/180)*roty(p*pi/180)*rotx(r*pi/180)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">构成</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">x</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">y</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">z</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">rxd</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">ryd</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">rzd</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose" title="¶”>¶</一个></dt><dd><p>返回姿态(<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>)给出位置(mm)和欧拉角(deg)作为数组[x,y,z,rx,ry,rz]。结果与调用:H = transl(x,y,z)*rotx(rx*pi/180)*roty(ry*pi/180)*rotz(rz*pi/180)此姿态格式为同构姿态自动打印。该姿态与Mecademic或Staubli机器人控制器所使用的姿态相同。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>tx</strong>（<em>浮动</em>) -位置(X坐标)</p></li> <li><p><strong>泰</strong>（<em>浮动</em>) -位置(Y坐标)</p></li> <li><p><strong>tz</strong>（<em>浮动</em>) -位置(Z坐标)</p></li> <li><p><strong>rxd</strong>（<em>浮动</em>) -第一次旋转度(X坐标)</p></li> <li><p><strong>ryd</strong>（<em>浮动</em>) -第一次旋转度数(Y坐标)</p></li> <li><p><strong>rzd</strong>（<em>浮动</em>) -第一次旋转度(Z坐标)</p></li> </ul> </dd> </dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.TxyzRxyz_2_Pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">TxyzRxyz_2_Pose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">xyzrpw</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.TxyzRxyz_2_Pose" title="¶”>¶</一个></dt><dd><p>以数组[x,y,z,rx,ry,rz]的形式返回给定位置(mm)和欧拉角(rad)的姿态。结果与调用:H = transl(x,y,z)*rotx(rx)*roty(ry)*rotz(rz)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>xyzrpw</strong>（<em>浮子清单</em>) - [x,y,z,rx,ry,rz]，单位为mm和弧度</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose_2_TxyzRxyz"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Pose_2_TxyzRxyz</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">H</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose_2_TxyzRxyz" title="¶”>¶</一个></dt><dd><p>检索位置(mm)和欧拉角(rad)作为给定姿态的数组[x,y,z,rx,ry,rz]。它返回对应于以下操作的值:H = transl(x,y,z)*rotx(rx)*roty(ry)*rotz(rz)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>H</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose_2_Staubli"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Pose_2_Staubli</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">H</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose_2_Staubli" title="¶”>¶</一个></dt><dd><p>转换一个姿势(4x4矩阵)到一个Staubli XYZWPR目标</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>H</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose_2_Motoman"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Pose_2_Motoman</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">H</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose_2_Motoman" title="¶”>¶</一个></dt><dd><p>将一个姿态(4x4矩阵)转换为Motoman XYZWPR目标(毫米和度)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>H</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose_2_Fanuc"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Pose_2_Fanuc</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">H</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose_2_Fanuc" title="¶”>¶</一个></dt><dd><p>将姿态(4x4矩阵)转换为Fanuc XYZWPR目标(毫米和度)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>H</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose_2_Techman"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Pose_2_Techman</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">H</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose_2_Techman" title="¶”>¶</一个></dt><dd><p>将姿势(4x4矩阵)转换为Techman XYZWPR目标(毫米和度)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>H</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Motoman_2_Pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Motoman_2_Pose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">xyzwpr</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Motoman_2_Pose" title="¶”>¶</一个></dt><dd><p>将Motoman目标转换为姿态(4x4矩阵)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Fanuc_2_Pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Fanuc_2_Pose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">xyzwpr</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Fanuc_2_Pose" title="¶”>¶</一个></dt><dd><p>将Motoman目标转换为姿态(4x4矩阵)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Techman_2_Pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Techman_2_Pose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">xyzwpr</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Techman_2_Pose" title="¶”>¶</一个></dt><dd><p>将一个tecman目标转换为一个姿态(4x4矩阵)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose_2_KUKA"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Pose_2_KUKA</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">H</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose_2_KUKA" title="¶”>¶</一个></dt><dd><p>将姿态(4x4矩阵)转换为KUKA KRC控制器所需的XYZABC KUKA目标(欧拉角)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>H</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.KUKA_2_Pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">KUKA_2_Pose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">xyzrpw</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.KUKA_2_Pose" title="¶”>¶</一个></dt><dd><p>将KUKA XYZABC目标转换为KUKA KRC控制器所需的姿势(4x4矩阵)。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Adept_2_Pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Adept_2_Pose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">xyzrpw</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Adept_2_Pose" title="¶”>¶</一个></dt><dd><p>将一个熟练的XYZRPW目标转换为一个姿态(4x4矩阵)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose_2_Adept"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Pose_2_Adept</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">H</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose_2_Adept" title="¶”>¶</一个></dt><dd><p>将一个姿态转换为熟练目标</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>H</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Comau_2_Pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Comau_2_Pose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">xyzrpw</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Comau_2_Pose" title="¶”>¶</一个></dt><dd><p>将一个Comau XYZRPW目标转换为一个姿态(4x4矩阵)，与PDL Comau程序所需的相同表示。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose_2_Comau"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Pose_2_Comau</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">H</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose_2_Comau" title="¶”>¶</一个></dt><dd><p>将姿态转换为Comau目标，与PDL Comau程序要求的相同表示。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>H</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose_2_Nachi"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Pose_2_Nachi</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">构成</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose_2_Nachi" title="¶”>¶</一个></dt><dd><p>将一个姿态转换为Nachi XYZRPW目标</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>构成</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Nachi_2_Pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Nachi_2_Pose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">xyzwpr</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Nachi_2_Pose" title="¶”>¶</一个></dt><dd><p>将一个Nachi XYZRPW目标转换为一个姿态(4x4矩阵)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.pose_2_quaternion"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">pose_2_quaternion</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">“透明国际”</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.pose_2_quaternion" title="¶”>¶</一个></dt><dd><p>返回一个姿态的四元数方向向量(4x4矩阵)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>“透明国际”</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose_Split"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Pose_Split</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">pose1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">pose2</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">delta_mm</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">1.0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose_Split" title="¶”>¶</一个></dt><dd><p>创建一个姿势序列，通过delta_mm in mm的步骤从pose1过渡到pose2(第一个和最后一个姿势不包括在列表中)</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.quaternion_2_pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">quaternion_2_pose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">秦</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.quaternion_2_pose" title="¶”>¶</一个></dt><dd><p>返回给定四元数方向向量的位姿方向矩阵(4x4矩阵)</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>秦</strong>（<em>列表</em>) -四元数作为4个浮点值</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose_2_ABB"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Pose_2_ABB</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">H</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose_2_ABB" title="¶”>¶</一个></dt><dd><p>将姿态转换为ABB目标(使用四元数表示)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>H</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.print_pose_ABB"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">print_pose_ABB</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">构成</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.print_pose_ABB" title="¶”>¶</一个></dt><dd><p>显示一个ABB RAPID目标(与IRC5控制器显示的方式相同)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>构成</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> <div class="admonition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.Pose_2_UR"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">Pose_2_UR</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">构成</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Pose_2_UR" title="¶”>¶</一个></dt><dd><p>用旋转矢量计算姿态目标的p[x,y,z,u,v,w]位置。这是通用机器人控制器所要求的相同格式。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.UR_2_Pose"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">UR_2_Pose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">xyzwpr</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.UR_2_Pose" title="¶”>¶</一个></dt><dd><p>给定一个带旋转矢量的p[x,y,z,u,v,w]笛卡尔目标，计算姿态目标。这是通用机器人控制器所要求的相同格式。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.dh"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">dh</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">rz</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">tx</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">tz</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">处方</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.dh" title="¶”>¶</一个></dt><dd><p>返回机器人链接的Denavit-Hartenberg 4x4矩阵。调用dh(rz,tx,tz,rx)与使用rotz(rz)*transl(tx,0,tz)*rotx(rx)调用dh(rz,tx,tz,rx)与调用dh([rz,tx,tz,rx])相同。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.dhm"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">dhm</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">处方</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">tx</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">tz</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">rz</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.dhm" title="¶”>¶</一个></dt><dd><p>返回机器人链接的Denavit-Hartenberg修改的4x4矩阵(Craig 1986)。</p><p>调用dhm(rx,tx,tz,rz)与使用rotx(rx)*transl(tx,0,tz)*rotz(rz)相同</p><p>调用dhm(rx,tx,tz,rz)与调用dhm([rx,tx,tz,rz])相同</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.joints_2_angles"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">joints_2_angles</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">金</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">类型</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.joints_2_angles" title="¶”>¶</一个></dt><dd><p>根据机器人的类型将机器人编码器转换为链接之间的角度。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.angles_2_joints"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">angles_2_joints</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">金</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">类型</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.angles_2_joints" title="¶”>¶</一个></dt><dd><p>根据机器人的类型，将链接之间的角度转换为机器人电机空间。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.norm"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">规范</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">p</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.norm" title="¶”>¶</一个></dt><dd><p>返回一个3D向量的模</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.normalize3"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">normalize3</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.normalize3" title="¶”>¶</一个></dt><dd><p>返回单位向量</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.cross"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">交叉</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">b</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.cross" title="¶”>¶</一个></dt><dd><p>返回两个3D向量的叉乘</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.dot"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">点</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">b</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.dot" title="¶”>¶</一个></dt><dd><p>返回两个3D向量的点积</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.angle3"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">angle3</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">b</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.angle3" title="¶”>¶</一个></dt><dd><p>返回两个3D向量的角度(以弧度为单位)</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.pose_angle"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">pose_angle</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">构成</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.pose_angle" title="¶”>¶</一个></dt><dd><p>返回以弧度为单位的4x4矩阵姿态的角度</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <p><strong>构成</strong>（<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>) -姿势</p></dd></dl> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.pose_angle_between"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">pose_angle_between</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">pose1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">pose2</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.pose_angle_between" title="¶”>¶</一个></dt><dd><p>以弧度为单位返回两个姿态之间的角度(4x4矩阵姿态)</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.mult3"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">mult3</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">v</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">d</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.mult3" title="¶”>¶</一个></dt><dd><p>将一个三维向量乘以一个标量</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.subs3"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">subs3</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">b</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.subs3" title="¶”>¶</一个></dt><dd><p>减去两个三维向量c=a-b</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.add3"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">add3</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">b</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.add3" title="¶”>¶</一个></dt><dd><p>将两个三维向量c=a+b相加</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.distance"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">距离</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">b</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.distance" title="¶”>¶</一个></dt><dd><p>计算两点之间的距离</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.pose_is_similar"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">pose_is_similar</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">b</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">宽容</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0．1</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.pose_is_similar" title="¶”>¶</一个></dt><dd><p>检查姿势是否相似。如果两个姿态之间的距离小于0.1 mm或0.1度，则返回True。可选提供mm+度的公差</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.intersect_line_2_plane"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">intersect_line_2_plane</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">多段线</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">vline</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">pplane</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">vplane</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.intersect_line_2_plane" title="¶”>¶</一个></dt><dd><p>计算直线与平面的交点</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.proj_pt_2_plane"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">proj_pt_2_plane</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">点</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">planepoint</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">planeABC</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.proj_pt_2_plane" title="¶”>¶</一个></dt><dd><p>将一点投影到平面上</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.proj_pt_2_line"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">proj_pt_2_line</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">点</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">paxe</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">vaxe</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.proj_pt_2_line" title="¶”>¶</一个></dt><dd><p>将一个点投影到一条直线上</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robomath.fitPlane"> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">fitPlane</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">点</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.fitPlane" title="¶”>¶</一个></dt><dd><p>最适合一个平面到点云</p></dd></dl> <dl class="py exception"> <dt class="sig sig-object py" id="robodk.robomath.MatrixError"> <em class="property"><span class="pre">异常</span><span class="w"></span></em> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">MatrixError</span></span> <a class="headerlink" href="#robodk.robomath.MatrixError" title="¶”>¶</一个></dt><dd><p>Matrix的异常类</p></dd></dl> <dl class="py class"> <dt class="sig sig-object py" id="robodk.robomath.Mat"> <em class="property"><span class="pre">类</span><span class="w"></span></em> <span class="sig-prename descclassname"><span class="pre">robodk.robomath。</span></span> <span class="sig-name descname"><span class="pre">垫</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">行</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">ncols</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat" title="¶”>¶</一个></dt><dd><p>Mat是一个矩阵对象。这个对象的主要目的是表示3D空间中的一个姿态(位置和方向)。</p><p>姿态是一个4x4矩阵，表示一个参考框架相对于另一个参考框架在3D空间中的位置和方向。</p><p>在机器人技术中，姿态通常用于放置物体、参考系和目标。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.TxyzRxyz_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">TxyzRxyz_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_TxyzRxyz" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_TxyzRxyz ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_ABB" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_ABB ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Adept" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Adept ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Adept_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Adept_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Comau" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Comau ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Fanuc" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Fanuc ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_KUKA" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_KUKA ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.KUKA_2_Pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">KUKA_2_Pose ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Motoman" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Motoman ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Nachi" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Nachi ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_Staubli" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_Staubli ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Pose_2_UR" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">Pose_2_UR ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.quaternion_2_pose" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">quaternion_2_pose ()</span></code></a></p> </div> <p>例子:</p><blockquote> <div> <div class="highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="kn">从</span><span class="nn">robodk.robolink</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robolink库</span><span class="kn">从</span><span class="nn">robodk.robomath</span><span class="kn">进口</span><span class="o">＊</span><span class="c1">#导入robomath库</span><span class="n">RDK</span><span class="o">＝</span><span class="n">Robolink</span><span class="p">（）</span><span class="c1">#连接到RoboDK API</span><span class="n">机器人</span><span class="o">＝</span><span class="n">RDK</span><span class="o">．</span><span class="n">项</span><span class="p">（</span><span class="s1">”</span><span class="p">，</span><span class="n">ITEM_TYPE_ROBOT</span><span class="p">）</span><span class="c1">在RoboDK中检索一个机器人</span><span class="c1">#target = RDK。项（“目标1”）＃Retrieve a target (example)</span><span class="n">构成</span><span class="o">＝</span><span class="n">机器人</span><span class="o">．</span><span class="n">构成</span><span class="p">（）</span><span class="c1">#检索机器人的当前位置作为姿态(活动工具相对于活动参考系的位置)</span><span class="c1"># target = target. pose() #同样可以应用于目标(教的位置)</span><span class="c1">#阅读4x4姿态矩阵为[X,Y,Z, A,B,C]欧拉表示(毫米和度):与KUKA机器人相同的表示</span><span class="n">XYZABC</span><span class="o">＝</span><span class="n">Pose_2_KUKA</span><span class="p">（</span><span class="n">构成</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">XYZABC</span><span class="p">）</span><span class="c1">#将4x4位姿矩阵读为[X,Y,Z, q1,q2,q3,q4]四元数表示(位置以毫米为单位，方向以四元数为单位):与ABB机器人相同的表示(快速编程)</span><span class="n">xyzq1234</span><span class="o">＝</span><span class="n">Pose_2_ABB</span><span class="p">（</span><span class="n">构成</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">xyzq1234</span><span class="p">）</span><span class="c1">#阅读4x4位姿矩阵为[X,Y,Z, u,v,w]表示(位置单位为mm，方向矢量单位为弧度):与Universal Robots相同的表示</span><span class="n">xyzuvw</span><span class="o">＝</span><span class="n">Pose_2_UR</span><span class="p">（</span><span class="n">构成</span><span class="p">）</span><span class="nb">打印</span><span class="p">（</span><span class="n">xyzuvw</span><span class="p">）</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="p">，</span><span class="n">一个</span><span class="p">，</span><span class="n">b</span><span class="p">，</span><span class="n">c</span><span class="o">＝</span><span class="n">XYZABC</span><span class="c1">#使用KUKA表示法(例如)，并基于之前的姿态计算一个新的姿态</span><span class="n">XYZABC2</span><span class="o">＝</span><span class="p">［</span><span class="n">x</span><span class="p">，</span><span class="n">y</span><span class="p">，</span><span class="n">z</span><span class="o">+</span><span class="mi">50</span><span class="p">，</span><span class="n">一个</span><span class="p">，</span><span class="n">b</span><span class="p">，</span><span class="n">c</span><span class="o">+</span><span class="mi">45</span><span class="p">］</span><span class="n">pose2</span><span class="o">＝</span><span class="n">KUKA_2_Pose</span><span class="p">（</span><span class="n">XYZABC2</span><span class="p">）</span><span class="c1">#将XYZABC数组转换为一个姿势(4x4矩阵)</span><span class="n">机器人</span><span class="o">．</span><span class="n">MoveJ</span><span class="p">（</span><span class="n">pose2</span><span class="p">）</span><span class="c1">#联合移动到新位置</span><span class="c1">#我们也可以更新姿态到目标，工具，参考框架，对象，…</span></pre> </div> </div> </div> </blockquote> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.ColsCount"> <span class="sig-name descname"><span class="pre">ColsCount</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.ColsCount" title="¶”>¶</一个></dt><dd><p>返回counns的数量。与len()相同。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat.Cols" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">关口()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Mat.Rows" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">行()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Mat.RowsCount" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RowsCount ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.RowsCount"> <span class="sig-name descname"><span class="pre">RowsCount</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.RowsCount" title="¶”>¶</一个></dt><dd><p>返回行数</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat.Cols" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">关口()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Mat.Rows" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">行()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Mat.ColsCount" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ColsCount ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.Cols"> <span class="sig-name descname"><span class="pre">关口</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.Cols" title="¶”>¶</一个></dt><dd><p>检索作为列列表的矩阵(float列表的列表)。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat.Rows" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">行()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Mat.ColsCount" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ColsCount ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Mat.RowsCount" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RowsCount ()</span></code></a></p> </div> <p>例子:</p><blockquote> <div> <div class="highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="gp">>>></span><span class="n">transl</span><span class="p">（</span><span class="mi">10</span><span class="p">，</span><span class="mi">20.</span><span class="p">，</span><span class="mi">30.</span><span class="p">）</span><span class="o">．</span><span class="n">行</span><span class="p">（）</span><span class="go">[[1, 0, 0, 10], [0 1 0, 20], [0, 0, 1, 30], [0, 0, 0, 1]]</span><span class="gp">>>></span><span class="n">transl</span><span class="p">（</span><span class="mi">10</span><span class="p">，</span><span class="mi">20.</span><span class="p">，</span><span class="mi">30.</span><span class="p">）</span><span class="o">．</span><span class="n">关口</span><span class="p">（）</span><span class="go">[[1 0 0,0],[0 1 0,0],[0, 0, 1, 0],[1] 10年,20年,30日]</span></pre> </div> </div> </div> </blockquote> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.Rows"> <span class="sig-name descname"><span class="pre">行</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.Rows" title="¶”>¶</一个></dt><dd><p>得到矩阵作为列表的列表</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat.Cols" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">关口()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Mat.ColsCount" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">ColsCount ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robomath.Mat.RowsCount" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">RowsCount ()</span></code></a></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.tr"> <span class="sig-name descname"><span class="pre">tr</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.tr" title="¶”>¶</一个></dt><dd><p>返回矩阵的转置</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.size"> <span class="sig-name descname"><span class="pre">大小</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">昏暗的</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.size" title="¶”>¶</一个></dt><dd><p>返回一个矩阵的大小(m,n)。Dim可以设置为0返回m(行)或1返回n(列)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.catV"> <span class="sig-name descname"><span class="pre">有线电视</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">mat2</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.catV" title="¶”>¶</一个></dt><dd><p>与另一个矩阵连接(垂直连接)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.catH"> <span class="sig-name descname"><span class="pre">导管</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">mat2</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.catH" title="¶”>¶</一个></dt><dd><p>与另一个矩阵连接(水平连接)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.eye"> <span class="sig-name descname"><span class="pre">眼睛</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">米</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">4</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.eye" title="¶”>¶</一个></dt><dd><p>制作大小为mxm的单位矩阵</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.isHomogeneous"> <span class="sig-name descname"><span class="pre">isHomogeneous</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.isHomogeneous" title="¶”>¶</一个></dt><dd><p>如果它是齐次矩阵则返回1</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.RelTool"> <span class="sig-name descname"><span class="pre">RelTool</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">x</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">y</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">z</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">处方</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">变化中</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">rz</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.RelTool" title="¶”>¶</一个></dt><dd><p>计算相对于工具坐标的目标。X,Y,Z的单位是毫米，W,P,R的单位是度。该函数的行为与ABB的RAPID RelTool命令相同。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.Offset"> <span class="sig-name descname"><span class="pre">抵消</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">x</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">y</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">z</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">处方</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">变化中</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">rz</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">0</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.Offset" title="¶”>¶</一个></dt><dd><p>根据参考系坐标计算一个相对目标。X,Y,Z的单位是毫米，W,P,R的单位是度。</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.invH"> <span class="sig-name descname"><span class="pre">invH</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.invH" title="¶”>¶</一个></dt><dd><p>返回该姿态的逆(假设是齐次矩阵)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.inv"> <span class="sig-name descname"><span class="pre">发票</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.inv" title="¶”>¶</一个></dt><dd><p>返回该姿态的逆(假设是齐次矩阵)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.tolist"> <span class="sig-name descname"><span class="pre">tolist</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.tolist" title="¶”>¶</一个></dt><dd><p>以列表形式返回矩阵的第一列</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.list"> <span class="sig-name descname"><span class="pre">列表</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.list" title="¶”>¶</一个></dt><dd><p>以列表形式返回矩阵的第一列</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.list2"> <span class="sig-name descname"><span class="pre">用于</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.list2" title="¶”>¶</一个></dt><dd><p>以列表的列表形式返回矩阵(每列一个列表)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.Pos"> <span class="sig-name descname"><span class="pre">Pos</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.Pos" title="¶”>¶</一个></dt><dd><p>返回一个姿态的位置(假设正在使用一个4x4齐次矩阵)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.VX"> <span class="sig-name descname"><span class="pre">VX</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.VX" title="¶”>¶</一个></dt><dd><p>返回一个姿态的X向量(假设正在使用一个4x4齐次矩阵)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.VY"> <span class="sig-name descname"><span class="pre">v</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.VY" title="¶”>¶</一个></dt><dd><p>返回姿态的Y向量(假设使用4x4齐次矩阵)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.VZ"> <span class="sig-name descname"><span class="pre">VZ</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.VZ" title="¶”>¶</一个></dt><dd><p>返回一个姿态的Z向量(假设正在使用一个4x4齐次矩阵)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.Rot33"> <span class="sig-name descname"><span class="pre">Rot33</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.Rot33" title="¶”>¶</一个></dt><dd><p>返回子3x3旋转矩阵</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.setPos"> <span class="sig-name descname"><span class="pre">setPos</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">newpos</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.setPos" title="¶”>¶</一个></dt><dd><p>设置一个姿态的XYZ位置(假设使用4x4齐次矩阵)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.setVX"> <span class="sig-name descname"><span class="pre">setVX</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">v_xyz</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.setVX" title="¶”>¶</一个></dt><dd><p>设置一个姿态的VX向量，它是齐次矩阵的第一列(假设使用4x4齐次矩阵)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.setVY"> <span class="sig-name descname"><span class="pre">setVY</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">v_xyz</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.setVY" title="¶”>¶</一个></dt><dd><p>设置一个姿态的VY向量，它是齐次矩阵的第一列(假设使用4x4齐次矩阵)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.setVZ"> <span class="sig-name descname"><span class="pre">setVZ</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">v_xyz</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.setVZ" title="¶”>¶</一个></dt><dd><p>设置一个姿态的VZ向量，它是齐次矩阵的第一列(假设使用4x4齐次矩阵)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.translationPose"> <span class="sig-name descname"><span class="pre">translationPose</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.translationPose" title="¶”>¶</一个></dt><dd><p>返回这个矩阵的平移姿态。返回的旋转被设置为identity(假设正在使用4x4齐次矩阵)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.rotationPose"> <span class="sig-name descname"><span class="pre">rotationPose</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.rotationPose" title="¶”>¶</一个></dt><dd><p>返回这个矩阵的旋转姿态。返回的位置设置为[0,0,0](假设使用4x4齐次矩阵)</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.SaveCSV"> <span class="sig-name descname"><span class="pre">SaveCSV</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">strfile</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.SaveCSV" title="¶”>¶</一个></dt><dd><p>保存<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>矩阵转换为CSV(逗号分隔值)文件。该文件可以作为电子表格(如Excel)轻松打开。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat.SaveMat" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SaveMat ()</span></code></a>，<code class="xref py py-func docutils literal notranslate"><span class="pre">SaveList ()</span></code>，<code class="xref py py-func docutils literal notranslate"><span class="pre">LoadList ()</span></code>，<code class="xref py py-func docutils literal notranslate"><span class="pre">LoadMat ()</span></code></p> </div> </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.robomath.Mat.SaveMat"> <span class="sig-name descname"><span class="pre">SaveMat</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">strfile</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">分隔符</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”、“</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robomath.Mat.SaveMat" title="¶”>¶</一个></dt><dd><p>保存<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>矩阵转换为CSV或TXT文件</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robomath.Mat.SaveCSV" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SaveCSV ()</span></code></a>，<code class="xref py py-func docutils literal notranslate"><span class="pre">SaveList ()</span></code>，<code class="xref py py-func docutils literal notranslate"><span class="pre">LoadList ()</span></code>，<code class="xref py py-func docutils literal notranslate"><span class="pre">LoadMat ()</span></code></p> </div> </dd> </dl> </dd> </dl> </div> <div class="section" id="robodialogs-py"> <span id="robodialogs"></span> <h2><span class="section-number">2.3.</span>robodialogs.py<一个类＝”headerlink" href="#robodialogs-py" title="¶”>¶</一个></h2> <p>robodialogs子模块是一个对话框工具箱。它包含，打开和保存文件对话框，消息提示等。</p><span class="target" id="module-robodk.robodialogs"></span> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robodialogs.getOpenFile"> <span class="sig-prename descclassname"><span class="pre">robodk.robodialogs。</span></span> <span class="sig-name descname"><span class="pre">getOpenFile</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">path_preference</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“C: / RoboDK /图书馆/”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">strfile</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">strtitle</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“开放</span><span class="pre">文件</span><span class="pre">……”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">defaultextension</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">' . txt '</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">文件类型</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">[(所有</span><span class="pre">文件”,</span><span class="pre">”。*’),</span><span class="pre">(“文本</span><span class="pre">文件”,</span><span class="pre">' . txt '))</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robodialogs.getOpenFile" title="¶”>¶</一个></dt><dd><p>弹出一个文件对话框窗口，选择一个文件打开。返回以只读模式打开的文件对象。使用返回的value.name检索文件路径。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robodialogs.getSaveFile"> <span class="sig-prename descclassname"><span class="pre">robodk.robodialogs。</span></span> <span class="sig-name descname"><span class="pre">getSaveFile</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">path_preference</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“C: / RoboDK /图书馆/”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">strfile</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“file.txt”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">strtitle</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“拯救</span><span class="pre">文件</span><span class="pre">作为</span><span class="pre">……”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">defaultextension</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">' . txt '</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">文件类型</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">[(所有</span><span class="pre">文件”,</span><span class="pre">”。*’),</span><span class="pre">(“文本</span><span class="pre">文件”,</span><span class="pre">' . txt '))</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robodialogs.getSaveFile" title="¶”>¶</一个></dt><dd><p>弹出一个文件对话框窗口，选择一个文件保存。返回以只写模式打开的文件对象。使用返回的value.name检索文件路径。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robodialogs.getOpenFileName"> <span class="sig-prename descclassname"><span class="pre">robodk.robodialogs。</span></span> <span class="sig-name descname"><span class="pre">getOpenFileName</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">path_preference</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“C: / RoboDK /图书馆/”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">strfile</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">strtitle</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“开放</span><span class="pre">文件</span><span class="pre">……”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">defaultextension</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">' . txt '</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">文件类型</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">[(所有</span><span class="pre">文件”,</span><span class="pre">”。*’),</span><span class="pre">(“文本</span><span class="pre">文件”,</span><span class="pre">' . txt '))</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robodialogs.getOpenFileName" title="¶”>¶</一个></dt><dd><p>弹出一个文件对话框窗口，选择一个文件打开。以字符串形式返回文件路径。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robodialogs.getSaveFileName"> <span class="sig-prename descclassname"><span class="pre">robodk.robodialogs。</span></span> <span class="sig-name descname"><span class="pre">getSaveFileName</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">path_preference</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“C: / RoboDK /图书馆/”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">strfile</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“file.txt”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">strtitle</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“拯救</span><span class="pre">文件</span><span class="pre">作为</span><span class="pre">……”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">defaultextension</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">' . txt '</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">文件类型</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">[(所有</span><span class="pre">文件”,</span><span class="pre">”。*’),</span><span class="pre">(“文本</span><span class="pre">文件”,</span><span class="pre">' . txt '))</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robodialogs.getSaveFileName" title="¶”>¶</一个></dt><dd><p>弹出一个文件对话框窗口，选择一个文件保存。以字符串形式返回文件路径。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robodialogs.getSaveFolder"> <span class="sig-prename descclassname"><span class="pre">robodk.robodialogs。</span></span> <span class="sig-name descname"><span class="pre">getSaveFolder</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">path_programs</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">' / '</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">popup_msg</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">的选择</span><span class="pre">一个</span><span class="pre">目录</span><span class="pre">来</span><span class="pre">保存</span><span class="pre">你的</span><span class="pre">程序的</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robodialogs.getSaveFolder" title="¶”>¶</一个></dt><dd><p>要求用户选择一个文件夹来保存程序或其他文件。以字符串形式返回文件夹的路径。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robodialogs.getOpenFolder"> <span class="sig-prename descclassname"><span class="pre">robodk.robodialogs。</span></span> <span class="sig-name descname"><span class="pre">getOpenFolder</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">path_preference</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“C: / RoboDK /图书馆/”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">strtitle</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“开放</span><span class="pre">文件夹</span><span class="pre">……”</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robodialogs.getOpenFolder" title="¶”>¶</一个></dt><dd><p>弹出一个文件夹对话框窗口，选择一个文件夹打开。以字符串形式返回文件夹的路径。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robodialogs.ShowMessage"> <span class="sig-prename descclassname"><span class="pre">robodk.robodialogs。</span></span> <span class="sig-name descname"><span class="pre">ShowMessage</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">味精</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">标题</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robodialogs.ShowMessage" title="¶”>¶</一个></dt><dd><p>显示阻塞消息</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robodialogs.ShowMessageYesNo"> <span class="sig-prename descclassname"><span class="pre">robodk.robodialogs。</span></span> <span class="sig-name descname"><span class="pre">ShowMessageYesNo</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">味精</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">标题</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robodialogs.ShowMessageYesNo" title="¶”>¶</一个></dt><dd><p>显示阻塞消息，并让用户回答Yes或No</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robodialogs.ShowMessageYesNoCancel"> <span class="sig-prename descclassname"><span class="pre">robodk.robodialogs。</span></span> <span class="sig-name descname"><span class="pre">ShowMessageYesNoCancel</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">味精</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">标题</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robodialogs.ShowMessageYesNoCancel" title="¶”>¶</一个></dt><dd><p>显示阻塞消息，并让用户回答Yes, No或Cancel</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robodialogs.mbox"> <span class="sig-prename descclassname"><span class="pre">robodk.robodialogs。</span></span> <span class="sig-name descname"><span class="pre">mbox</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">味精</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">b1</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“好吧”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">b2</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“取消”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">框架</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">真正的</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">t</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">条目</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robodialogs.mbox" title="¶”>¶</一个></dt><dd><p>创建MessageBox的实例，并从用户处获取数据。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>味精</strong>（<em>str</em>) -要显示的字符串</p></li> <li><p><strong>b1</strong>（<em>str</em><em>，</em><em>元组</em>) -左键文本，或元组(<按钮>的文本，<按>返回)</p></li> <li><p><strong>b2</strong>（<em>str</em><em>，</em><em>元组</em>) -右键文本，或元组(<text for button>， <to return on按>)</p></li> <li><p><strong>框架</strong>（<em>保龄球</em>) -包括一个标准的框架:真或假</p></li> <li><p><strong>t</strong>（<em>int</em><em>，</em><em>浮动</em>) -以秒为单位的时间(int或float)，直到msgbox自动关闭</p></li> <li><p><strong>条目</strong>（<em>没有一个</em><em>，</em><em>保龄球</em><em>，</em><em>str</em>) -包括一个入口小部件，它将提供返回的内容。提供文本以填充方框</p></li> </ul> </dd> </dl> <p>例子:</p><blockquote> <div> <div class="highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">的名字</span><span class="o">＝</span><span class="n">mbox</span><span class="p">（</span><span class="s1">“输入你的名字”</span><span class="p">，</span><span class="n">条目</span><span class="o">＝</span><span class="kc">真正的</span><span class="p">）</span><span class="n">的名字</span><span class="o">＝</span><span class="n">mbox</span><span class="p">（</span><span class="s1">“输入你的名字”</span><span class="p">，</span><span class="n">条目</span><span class="o">＝</span><span class="s1">“默认”</span><span class="p">）</span><span class="k">如果</span><span class="n">的名字</span><span class="p">：</span><span class="nb">打印</span><span class="p">（</span><span class="s2">“价值:“</span><span class="o">+</span><span class="n">的名字</span><span class="p">）</span><span class="n">价值</span><span class="o">＝</span><span class="n">mbox</span><span class="p">（</span><span class="s1">“男性还是女性?”</span><span class="p">，</span><span class="p">（</span><span class="s1">“男”</span><span class="p">，</span><span class="s1">“米”</span><span class="p">)，</span><span class="p">（</span><span class="s1">“女”</span><span class="p">，</span><span class="s1">“f”</span><span class="p">）)</span><span class="n">mbox</span><span class="p">（</span><span class="s1">过程完成的</span><span class="p">）</span></pre> </div> </div> </div> </blockquote> </dd> </dl> </div> <div class="section" id="robofileio-py"> <span id="robofileio"></span> <h2><span class="section-number">2.4.</span>robofileio.py<一个类＝”headerlink" href="#robofileio-py" title="¶”>¶</一个></h2> <p>robofileio子模块是一个文件操作工具箱。它包含文件属性，CSV导出器，FTP等。</p><span class="target" id="module-robodk.robofileio"></span> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.searchfiles"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">searchfiles</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">模式</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“C: \ \ RoboDK \ \图书馆\ \ * .rdk’</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.searchfiles" title="¶”>¶</一个></dt><dd><p>以给定的扩展名列出目录中的文件</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.getFileDir"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">getFileDir</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">filepath</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.getFileDir" title="¶”>¶</一个></dt><dd><p>返回文件路径的目录</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.getBaseName"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">getBaseName</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">filepath</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.getBaseName" title="¶”>¶</一个></dt><dd><p>返回文件路径的文件名和扩展名</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.getFileName"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">getFileName</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">filepath</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.getFileName" title="¶”>¶</一个></dt><dd><p>返回文件路径的文件名(不带扩展名)</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.DateModified"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">DateModified</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">filepath</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">stringformat</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.DateModified" title="¶”>¶</一个></dt><dd><p>返回文件被修改的时间</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.DateCreated"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">DateCreated</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">filepath</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">stringformat</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.DateCreated" title="¶”>¶</一个></dt><dd><p>返回文件被修改的时间</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.DirExists"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">DirExists</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">文件夹</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.DirExists" title="¶”>¶</一个></dt><dd><p>如果文件夹存在，则返回true</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.FileExists"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">FileExists</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">文件</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.FileExists" title="¶”>¶</一个></dt><dd><p>如果文件存在，则返回true</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.FilterName"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">FilterName</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">namefilter</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">safechar</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“P”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">reserved_names</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.FilterName" title="¶”>¶</一个></dt><dd><p>获取一个安全的程序或变量名，可以用于机器人编程</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.LoadList"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">LoadList</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">strfile</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">分隔符</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”、“</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">编解码器</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“utf - 8”</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.LoadList" title="¶”>¶</一个></dt><dd><p>从CSV文件或TXT文件加载数据到Python列表(数字列表的列表)</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robofileio.SaveList" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">SaveList ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robofileio.LoadMat" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">LoadMat ()</span></code></a></p> </div> <p>例子:</p><blockquote> <div> <div class="highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">csvdata</span><span class="o">＝</span><span class="n">LoadList</span><span class="p">（</span><span class="n">strfile</span><span class="p">，</span><span class="s1">”、“</span><span class="p">）</span><span class="n">值</span><span class="o">＝</span><span class="p">［］</span><span class="k">为</span><span class="n">我</span><span class="ow">在</span><span class="nb">范围</span><span class="p">（</span><span class="nb">len</span><span class="p">（</span><span class="n">csvdata</span><span class="p">)):</span><span class="nb">打印</span><span class="p">（</span><span class="n">csvdata</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="n">值</span><span class="o">．</span><span class="n">附加</span><span class="p">（</span><span class="n">csvdata</span><span class="p">［</span><span class="n">我</span><span class="p">])</span><span class="c1">#我们也可以将列表保存回CSV文件</span><span class="c1"># SaveList(csvdata, strfile， '，')</span></pre> </div> </div> </div> </blockquote> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.SaveList"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">SaveList</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">list_variable</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">strfile</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">分隔符</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”、“</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.SaveList" title="¶”>¶</一个></dt><dd><p>将列表或列表的列表另存为CSV或TXT文件。</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robofileio.LoadList" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">LoadList ()</span></code></a>，<一个类＝”reference internal" href="#robodk.robofileio.LoadMat" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">LoadMat ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.LoadMat"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">LoadMat</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">strfile</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">分隔符</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">”、“</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.LoadMat" title="¶”>¶</一个></dt><dd><p>将CSV文件或TXT文件中的数据加载到<一个类＝”reference internal" href="#robodk.robomath.Mat" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">垫</span></code></a>矩阵</p><d我v类＝”一个d米onition seealso"> <p class="admonition-title">另请参阅</p><p><一个类＝”reference internal" href="#robodk.robofileio.LoadList" title=""><code class="xref py py-func docutils literal notranslate"><span class="pre">LoadList ()</span></code></a></p> </div> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.RemoveFileFTP"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">RemoveFileFTP</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">ftp</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">filepath</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.RemoveFileFTP" title="¶”>¶</一个></dt><dd><p>删除远程服务器上的文件。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.RemoveDirFTP"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">RemoveDirFTP</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">ftp</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">路径</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.RemoveDirFTP" title="¶”>¶</一个></dt><dd><p>递归地删除远程服务器上的目录树。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.UploadDirFTP"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">UploadDirFTP</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">localpath</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">server_ip</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">remote_path</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">用户名</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">密码</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.UploadDirFTP" title="¶”>¶</一个></dt><dd><p>通过FTP递归地将文件夹上传到机器人</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.UploadFileFTP"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">UploadFileFTP</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">file_path_name</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">server_ip</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">remote_path</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">用户名</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">密码</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.UploadFileFTP" title="¶”>¶</一个></dt><dd><p>通过FTP向机器人上传文件</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robofileio.UploadFTP"> <span class="sig-prename descclassname"><span class="pre">robodk.robofileio。</span></span> <span class="sig-name descname"><span class="pre">UploadFTP</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">程序</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">robot_ip</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">remote_path</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">ftp_user</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">ftp_pass</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">pause_sec</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">2</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robofileio.UploadFTP" title="¶”>¶</一个></dt><dd><p>通过FTP将程序或程序列表上传到机器人，并提供连接参数</p></dd></dl> </div> <div class="section" id="roboapps-py"> <span id="roboapps"></span> <h2><span class="section-number">2.5.</span>roboapps.py<一个类＝”headerlink" href="#roboapps-py" title="¶”>¶</一个></h2> <p>roboapps子模块是RoboDK Apps工具箱。更多信息:<一个类＝”reference external" href="https://github.com/RoboDK/Plug-In-Interface/tree/master/PluginAppLoader">https://github.com/RoboDK/Plug-In-Interface/tree/master/PluginAppLoader</一个></p><d我v类＝”一个d米onition warning"> <p class="admonition-title">警告</p><p>roboapps子模块是特定于Python API的。</p></d我v><span class="target" id="module-robodk.roboapps"></span> <p>App/actions控制实用程序。</p><p>使用这些来控制你的应用程序的动作:点击运行，勾选运行，不杀死等。</p><dl class="py class"> <dt class="sig sig-object py" id="robodk.roboapps.RunApplication"> <em class="property"><span class="pre">类</span><span class="w"></span></em> <span class="sig-prename descclassname"><span class="pre">robodk.roboapps。</span></span> <span class="sig-name descname"><span class="pre">RunApplication</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">rdk</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.RunApplication" title="¶”>¶</一个></dt><dd><p>类来检测何时发出终止信号以停止操作。</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">运行</span><span class="o">＝</span><span class="n">RunApplication</span><span class="p">（）</span><span class="k">而</span><span class="n">运行</span><span class="o">．</span><span class="n">运行</span><span class="p">():</span><span class="c1">#主循环直到检测到终止信号为止</span><span class="o">.．.</span></pre> </div> </div> <dl class="py method"> <dt class="sig sig-object py" id="robodk.roboapps.RunApplication.Run"> <span class="sig-name descname"><span class="pre">运行</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.RunApplication.Run" title="¶”>¶</一个></dt><dd><p>跑回调。</p><dl class="field-list simple"> <dt class="field-odd"> 返回</dt><dd类＝”field-odd"> <p>只要允许应用程序运行，就为True。</p></dd><dt类＝”field-even"> 返回类型</dt><dd类＝”field-even"> <p>保龄球</p></dd></dl> </dd> </dl> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.roboapps.Unchecked"> <span class="sig-prename descclassname"><span class="pre">robodk.roboapps。</span></span> <span class="sig-name descname"><span class="pre">无节制的</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.Unchecked" title="¶”>¶</一个></dt><dd><p>验证命令“Unchecked”是否存在。在这种情况下，它意味着动作刚刚从RoboDK未选中(仅适用于可检查的动作)。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.roboapps.Checked"> <span class="sig-prename descclassname"><span class="pre">robodk.roboapps。</span></span> <span class="sig-name descname"><span class="pre">检查</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.Checked" title="¶”>¶</一个></dt><dd><p>验证命令“Checked”是否存在。在这种情况下，它意味着动作刚刚从RoboDK检查(仅适用于可检查的动作)。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.roboapps.KeepChecked"> <span class="sig-prename descclassname"><span class="pre">robodk.roboapps。</span></span> <span class="sig-name descname"><span class="pre">KeepChecked</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.KeepChecked" title="¶”>¶</一个></dt><dd><p>即使脚本执行完成，也要检查操作(这只适用于可检查的操作)</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.roboapps.SkipKill"> <span class="sig-prename descclassname"><span class="pre">robodk.roboapps。</span></span> <span class="sig-name descname"><span class="pre">SkipKill</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.SkipKill" title="¶”>¶</一个></dt><dd><p>对于Checkable动作，该设置将告诉RoboDK应用程序加载器在调用terminate函数后几秒钟不杀死进程。如果我们希望用户输入保存文件，就需要这样做。例如:Record App中的Record动作。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.roboapps.Str2FloatList"> <span class="sig-prename descclassname"><span class="pre">robodk.roboapps。</span></span> <span class="sig-name descname"><span class="pre">Str2FloatList</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">str_values</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">expected_nvalues</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">3.</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.Str2FloatList" title="¶”>¶</一个></dt><dd><p>将字符串转换为浮点数列表。如果数组小于预期大小，则返回None。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>str_values</strong>（<em>STR清单</em>-包含浮点数列表的字符串</p></li> <li><p><strong>expected_nvalues</strong>（<em>int</em><em>，</em><em>可选</em>-字符串列表中期望的值的数量，默认为3</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>浮点数列表</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p>浮子清单</p></dd></dl> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.roboapps.Registry"> <span class="sig-prename descclassname"><span class="pre">robodk.roboapps。</span></span> <span class="sig-name descname"><span class="pre">注册表</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">varname</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">setvalue</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.Registry" title="¶”>¶</一个></dt><dd><p>从注册表中读取值或设置值。它将在HKEY_CURRENT_USER执行，因此不需要管理权限。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.roboapps.get_robodk_theme"> <span class="sig-prename descclassname"><span class="pre">robodk.roboapps。</span></span> <span class="sig-name descname"><span class="pre">get_robodk_theme</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">RDK</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.get_robodk_theme" title="¶”>¶</一个></dt><dd><p>获取RoboDK的活动主题(选项->通用->主题)</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.roboapps.set_qt_theme"> <span class="sig-prename descclassname"><span class="pre">robodk.roboapps。</span></span> <span class="sig-name descname"><span class="pre">set_qt_theme</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">应用程序</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">RDK</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.set_qt_theme" title="¶”>¶</一个></dt><dd><p>设置Qt应用程序主题以匹配RoboDK的主题。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.roboapps.value_to_qt_widget"> <span class="sig-prename descclassname"><span class="pre">robodk.roboapps。</span></span> <span class="sig-name descname"><span class="pre">value_to_qt_widget</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">价值</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.value_to_qt_widget" title="¶”>¶</一个></dt><dd><p>根据值获取Qt Widget。例如，浮点数进入QDoubleSpinBox, bool类型进入QCheckBox。返回一个小部件和一个检索小部件值的函数。</p></dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.roboapps.value_to_tk_widget"> <span class="sig-prename descclassname"><span class="pre">robodk.roboapps。</span></span> <span class="sig-name descname"><span class="pre">value_to_tk_widget</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">价值</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">框架</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.value_to_tk_widget" title="¶”>¶</一个></dt><dd><p>根据值获取Tkinter小部件。例如，将浮点数放入Spinbox，将bool值放入Checkbutton。返回一个小部件和一个检索小部件值的函数。</p></dd></dl> <dl class="py class"> <dt class="sig sig-object py" id="robodk.roboapps.AppSettings"> <em class="property"><span class="pre">类</span><span class="w"></span></em> <span class="sig-prename descclassname"><span class="pre">robodk.roboapps。</span></span> <span class="sig-name descname"><span class="pre">AppSettings</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">settings_param</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“App-Settings”</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.AppSettings" title="¶”>¶</一个></dt><dd><p>通用应用程序设置类，用于保存设置并将设置加载到具有内置UI的RoboDK站。</p><dl class="py method"> <dt class="sig sig-object py" id="robodk.roboapps.AppSettings.CopyFrom"> <span class="sig-name descname"><span class="pre">CopyFrom</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">其他</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.AppSettings.CopyFrom" title="¶”>¶</一个></dt><dd><p>从另一个实例复制设置</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.roboapps.AppSettings.getAttribs"> <span class="sig-name descname"><span class="pre">getAttribs</span></span> <span class="sig-paren">（</span> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.AppSettings.getAttribs" title="¶”>¶</一个></dt><dd><p>获取属性列表</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.roboapps.AppSettings.get"> <span class="sig-name descname"><span class="pre">得到</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">鲜明</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">default_value</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.AppSettings.get" title="¶”>¶</一个></dt><dd><p>通过键获取属性值，否则返回None</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.roboapps.AppSettings.Save"> <span class="sig-name descname"><span class="pre">保存</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">rdk</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">autorecover</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.AppSettings.Save" title="¶”>¶</一个></dt><dd><p>将类属性保存为RoboDK二进制参数</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.roboapps.AppSettings.Load"> <span class="sig-name descname"><span class="pre">负载</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">rdk</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.AppSettings.Load" title="¶”>¶</一个></dt><dd><p>从RoboDK二进制参数加载类属性</p></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="robodk.roboapps.AppSettings.ShowUI"> <span class="sig-name descname"><span class="pre">ShowUI</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">windowtitle</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">“设置”</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">嵌入</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">wparent</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">callback_frame</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">show_default_button</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">假</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.roboapps.AppSettings.ShowUI" title="¶”>¶</一个></dt><dd><p>在GUI中显示应用程序设置，根据可用性使用tkinter或Qt。</p></dd></dl> </dd> </dl> </div> <div class="section" id="robolinkutils-py"> <h2><span class="section-number">2.6.</span>robolinkutils.py<一个类＝”headerlink" href="#robolinkutils-py" title="¶”>¶</一个></h2> <p>robolinkutils子模块使用Robolink模块提供实用函数。</p><d我v类＝”一个d米onition warning"> <p class="admonition-title">警告</p><p>robolinkutils子模块特定于Python API。</p></d我v><span class="target" id="module-robodk.robolinkutils"></span> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robolinkutils.getLinks"> <span class="sig-prename descclassname"><span class="pre">robodk.robolinkutils。</span></span> <span class="sig-name descname"><span class="pre">getLinks</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">项</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">type_linked</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">2</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolinkutils.getLinks" title="¶”>¶</一个></dt><dd><p>获取getLink()为其返回指定项的特定类型的所有项。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>项</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -源项目</p></li> <li><p><strong>type_linked</strong>（<em>int</em>) -检查链接的项目类型</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>项的项列表。getLink返回的specified item</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p>的列表<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robolinkutils.getAncestors"> <span class="sig-prename descclassname"><span class="pre">robodk.robolinkutils。</span></span> <span class="sig-name descname"><span class="pre">getAncestors</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">项</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">parent_types</span></span><span class="o"><span class="pre">＝</span></span><span class="default_value"><span class="pre">没有一个</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolinkutils.getAncestors" title="¶”>¶</一个></dt><dd><p>使用类型过滤(即[ITEM_TYPE_FRAME, ITEM_TYPE_ROBOT， ..])，获取一个Item的父元素列表到Station。默认情况下，它将返回一个Item的所有父类，而不考虑它们的类型，从Item的父类订购到Station。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>项</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -源项目</p></li> <li><p><strong>parent_types</strong>（<em>ITEM_TYPE_*的列表</em><em>，</em><em>可选</em>-父类允许的类型，如ITEM_TYPE_FRAME，默认为None</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>父节点的列表，从Item的父节点到Station。</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p>的列表<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robolinkutils.getLowestCommonAncestor"> <span class="sig-prename descclassname"><span class="pre">robodk.robolinkutils。</span></span> <span class="sig-name descname"><span class="pre">getLowestCommonAncestor</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">item1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">第二条</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolinkutils.getLowestCommonAncestor" title="¶”>¶</一个></dt><dd><p>查找Station树中两个项目之间的最低共同祖先(LCA)。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>item1</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -第一项</p></li> <li><p><strong>第二条</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -第二项</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>最低共同祖先(LCA)</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p><a class="reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a></p> </dd> </dl> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robolinkutils.getAncestorPose"> <span class="sig-prename descclassname"><span class="pre">robodk.robolinkutils。</span></span> <span class="sig-name descname"><span class="pre">getAncestorPose</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">item_child</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">item_parent</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolinkutils.getAncestorPose" title="¶”>¶</一个></dt><dd><p>获取站树中具有层次关系的两个项之间的姿态。两者之间可以有N个项目。此函数将为同步轴抛出错误。</p><dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>item_child</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -子项目</p></li> <li><p><strong>item_parent</strong>（<一个类＝”reference internal" href="#robodk.robolink.Item" title=""><code class="xref py py-class docutils literal notranslate"><span class="pre">项</span></code></a>) -父项</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>从子到父的姿势</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p><code class="xref py py-class docutils literal notranslate"><span class="pre">robomath。垫</span></code></p> </dd> </dl> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robolinkutils.getPoseWrt"> <span class="sig-prename descclassname"><span class="pre">robodk.robolinkutils。</span></span> <span class="sig-name descname"><span class="pre">getPoseWrt</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">item1</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">第二条</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolinkutils.getPoseWrt" title="¶”>¶</一个></dt><dd><p>获取一个Item (item1)相对于另一个Item (item2)的姿态。</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">孩子</span><span class="o">．</span><span class="n">PoseWrt</span><span class="p">（</span><span class="n">孩子</span><span class="o">．</span><span class="n">父</span><span class="p">（））</span><span class="c1">#将从父节点返回一个向前的姿势给子节点</span><span class="n">孩子</span><span class="o">．</span><span class="n">父</span><span class="p">（）</span><span class="o">．</span><span class="n">PoseWrt</span><span class="p">（</span><span class="n">孩子</span><span class="p">）</span><span class="c1">#将从子节点向父节点返回一个反向的姿态</span><span class="n">工具</span><span class="o">．</span><span class="n">PoseWrt</span><span class="p">（</span><span class="n">工具</span><span class="o">．</span><span class="n">父</span><span class="p">（））</span><span class="c1">#将返回工具的PoseTool()</span><span class="n">工具</span><span class="o">．</span><span class="n">PoseWrt</span><span class="p">（</span><span class="n">站</span><span class="p">）</span><span class="c1">#将返回工具的绝对姿态</span></pre> </div> </div> <dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>item1</strong>（<code class="xref py py-class docutils literal notranslate"><span class="pre">robolink。项</span></code>) -源项目</p></li> <li><p><strong>第二条</strong>（<code class="xref py py-class docutils literal notranslate"><span class="pre">robolink。项</span></code>) -第二项</p></li> </ul> </dd> <dt class="field-even"> 返回</dt><dd类＝”field-even"> <p>从源项目到第二个项目的姿势</p></dd><dt类＝”field-odd"> 返回类型</dt><dd类＝”field-odd"> <p><code class="xref py py-class docutils literal notranslate"><span class="pre">robomath。垫</span></code></p> </dd> </dl> </dd> </dl> <dl class="py function"> <dt class="sig sig-object py" id="robodk.robolinkutils.setPoseAbsIK"> <span class="sig-prename descclassname"><span class="pre">robodk.robolinkutils。</span></span> <span class="sig-name descname"><span class="pre">setPoseAbsIK</span></span> <span class="sig-paren">（</span> <em class="sig-param"><span class="n"><span class="pre">项</span></span></em>，<em class="sig-param"><span class="n"><span class="pre">pose_abs</span></span></em> <span class="sig-paren">）</span> <a class="headerlink" href="#robodk.robolinkutils.setPoseAbsIK" title="¶”>¶</一个></dt><dd><p>考虑到逆运动学，设置项目相对于绝对参考系的姿态。例如，您可以直接设置ITEM_TYPE_TOOL的绝对姿态，而不考虑机器人的运动学。此函数将为同步轴抛出错误。</p><d我v类＝”highlight-python notranslate"> <div class="highlight"> <pre><span></span><span class="n">tool_item</span><span class="o">．</span><span class="n">setPoseAbs</span><span class="p">（</span><span class="n">眼睛</span><span class="p">（</span><span class="mi">4</span><span class="p">）)</span><span class="c1">#将设置工具中心点相对于[0,0,0,0,0]的位置</span><span class="n">setPoseAbsIK</span><span class="p">（</span><span class="n">tool_item</span><span class="p">，</span><span class="n">眼睛</span><span class="p">（</span><span class="mi">4</span><span class="p">）)</span><span class="c1">#将移动机器人，使工具中心点相对于工位为[0,0,0,0,0]</span></pre> </div> </div> <dl class="field-list simple"> <dt class="field-odd"> 参数</dt><dd类＝”field-odd"> <ul class="simple"> <li><p><strong>项</strong>（<code class="xref py py-class docutils literal notranslate"><span class="pre">robolink。项</span></code>) -源项目</p></li> <li><p><strong>pose_abs</strong>（<code class="xref py py-class docutils literal notranslate"><span class="pre">robomath。垫</span></code>) -项目相对于站位的位置</p></li> </ul> </dd> </dl> </dd> </dl> </div> </div> </div> </div> <footer> <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation"> <a href="//www.sinclairbody.com/doc/en/PythonAPI/postprocessor.html" class="btn btn-neutral float-right" title="下一个”一个ccesskey="n" rel="next">下一个<span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a> <a href="//www.sinclairbody.com/doc/en/PythonAPI/intro.html" class="btn btn-neutral float-left" title="以前的”一个ccesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span>以前的</一个></d我v><hr> <div role="contentinfo"> 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