# 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

# You can also use the new version of the API:
from robodk import robolink    # RoboDK API
from robodk import robomath    # Robot toolbox
RDK = robolink.Robolink()

# Forward and backwards compatible use of the RoboDK API:
# Remove these 2 lines to follow python programming guidelines
from robodk import *      # RoboDK API
from robolink import *    # Robot toolbox
# Link to RoboDK
# RDK = Robolink()

robot = RDK.Item('', ITEM_TYPE_ROBOT)
tool = robot.getLink(ITEM_TYPE_TOOL)
tool_relation = tool.GeometryPose() - tool.PoseTool()


#mbox ("active tool: " + tool.Name())
#mbox (tool.GeometryPose())
#mbox (tool.PoseTool())
#mbox (tool_relation)


def MainAction():
    #tool_relation = tool.GeometryPose() - tool.PoseTool()
    while True:
        tool.setPoseTool(tool.GeometryPose() - tool_relation)


def runmain():
    """
    Entrypoint of this action when it is executed on its own or interacted with in RoboDK.
    Important: Use the function name 'runmain()' if you want to compile this action.
    """

    if roboapps.Unchecked():
        roboapps.Exit()
    else:
        MainAction()


if __name__ == '__main__':
    runmain()