from robodk.robolink import *
from robodk.robomath import *

RDK = Robolink()  # RoboDKのアプリケーションを取得

list_objects = RDK.ItemList(ITEM_TYPE_OBJECT)
parameters = [0.5]
joints_build = [0]
joints_home = [0]
joints_senses = [+1]
lower_limits = [0]
upper_limits = [6]
base_pose = xyzrpw_2_pose([0, 0, 0, 0, 90, 0])
tool_pose = xyzrpw_2_pose([0, 0, 90, 0, 0, 0])
robot_name = "test"
robot_type = 10
new_robot = RDK.BuildMechanism(robot_type, list_objects, parameters, joints_build, joints_home,
                               joints_senses, lower_limits, upper_limits, base_pose, tool_pose, robot_name)
frame = RDK.Item(robot_name + ' Base', ITEM_TYPE_FRAME)