# Type help("robodk.robolink") or help("robodk.robomath") for more information
# Press F5 to run the script
# Documentation: https://robodk.com/doc/en/RoboDK-API.html
# Reference:     https://robodk.com/doc/en/PythonAPI/robodk.html
# Note: It is not required to keep a copy of this file, your Python script is saved with your RDK project
from robodk import robolink    # RoboDK API
from robodk import robomath    # Robot toolbox

# Link to RoboDK
RDK = robolink.Robolink()

column = 8
row = 8
distance_x = 10
distance_y = 10
app_height = 100

RDK.Command("AddFolder", "Folder Pick Programs")

ref_target = RDK.Item("My_Reference_Target",robolink.ITEM_TYPE_TARGET)
ref_frame = RDK.Item("My_Reference_Frame",robolink.ITEM_TYPE_FRAME)
gripper = RDK.Item("My_Gripper",robolink.ITEM_TYPE_TOOL)
folder_prog = RDK.Item("Folder Pick Programs",robolink.ITEM_TYPE_FOLDER)

for i in range(column):
    for j in range(row):
        new_target = RDK.AddTarget("Pick_Target_"+str(i)+"_"+str(j),ref_frame)
        new_target_pose = robomath.Offset(ref_target.Pose(),i*distance_x,j*distance_y,0)
        new_target.setPose(new_target_pose)
        new_target_app = RDK.AddTarget("App_Target_"+str(i)+"_"+str(j),ref_frame)
        new_target_app_pose = robomath.Offset(new_target.Pose(),0,0,app_height)
        new_target_app.setPose(new_target_app_pose)

        new_prog = RDK.AddProgram("Pick_"+str(i)+"_"+str(j))
        new_prog.setParent(folder_prog)
        new_prog.setTool(gripper)
        new_prog.setFrame(ref_frame)
        new_prog.MoveJ(new_target_app)
        new_prog.MoveL(new_target)
        new_prog.MoveL(new_target_app)