# Start the RoboDK API

            from robolink import *
            from robodk import *
            RDK = Robolink()
            
            # Define your new robot or mechanism
            # Example to create a Fanuc LR Mate 200iD robot
            robot_name = 'New_Aerotech'
            DOFs       = 6
            
            # Define the joints of the robot/mechanism
            joints_build = [0, 0, 0, 0, 0, 0]
            
            # Define the home position of the robot/mechanism (default position when you build the mechanism)
            # This is also the position the robot goes to if you select "Home"
            joints_home   = [0, 0, 0, 0, 0, 0]
            
            # Define the robot parameters. The parameters must be provided in the same order they appear
            #     in the menu Utilities-Model Mechanism or robot
            # Some basic mechanisms such as 1 or 2 axis translation/rotation axes don't need any parameters
            #     (translation/rotation will happen around the Z axis)
            parameters = []
            
            # Define the joint sense (set to +1 or -1 for each axis (+1 is used as a reference for the ABB IRB120 robot)
            joints_senses   = [+1, +1, -1,  -1, -1, -1] # add -1 as 7th index to account for axis 2 and axis 3 coupling
            
            # Joint limits (lower limits for each axis)
            lower_limits  = [-200, -300, -170, -170, -170, -170]
            
            # Joint limits (upper limits for each axis)
            upper_limits  = [200, 300, 0, 0, 0, 0]
            
            # Base frame pose (offset the model by applying a base frame transformation)
            base_pose   = xyzrpw_2_pose([0, 0, 0, 0, 0, 0])
            # Fanuc and Motoman robots have the base frame at the intersection of axes 1 and 2
            #base_pose   = xyzrpw_2_pose([0, 0, -330, 0, 0, 0])
            
            # Tool frame pose (offset the tool flange by applying a tool frame transformation)
            tool_pose   = xyzrpw_2_pose([0, 0, 0, 0, 0, 0])
            
            # Retrieve all your items from RoboDK (they should be previously loaded manually or using the API's command RDK.AddFile())
            list_objects   = []
            for i in range(DOFs + 1):
              if i == 0:
                  itm = RDK.Item(robot_name + ' Base', ITEM_TYPE_OBJECT)
              else:
                  itm = RDK.Item(robot_name + ' ' + str(i), ITEM_TYPE_OBJECT)
            
              list_objects.append(itm)
            
            # Create the robot/mechanism
            new_robot = RDK.BuildMechanism(MAKE_ROBOT_6DOF, list_objects, parameters, joints_build, joints_home, joints_senses, lower_limits, upper_limits, base_pose, tool_pose, robot_name)
            if not new_robot.Valid():
               print("Failed to create the robot. Check input values.")
            else:
               print("Robot/mechanism created: " + new_robot.Name())