update_robot_working_tools.py

from robolink import *    # RoboDK API
from robodk import *      # Robot welding toolbox

# Name of the reference tool (name in the RoboDK tree)
# The name must contain the length in mm 
TOOL_NAME_REF = 'Welding TCP' //model you welding gun please enter

# Get the nominal tool length based on the tool name and the L keyword
def get_len_tool(toolname):    
    toolnamelist = toolname.split(" ")
    for w in toolnamelist:
        if w.startswith("L"):
            try:
                len_tcp_definition = float(w[1:])
                return len_tcp_definition
            except:
                print("Unable to convert word: " + str(w))
                continue
                
    print("Warning! Unknown length")
    return None

# Start the API
RDK = Robolink()

# Retrieve the reference tool and make sure it exists
tcpref1 = RDK.Item(TOOL_NAME_REF, ITEM_TYPE_TOOL)
if not tcpref1.Valid():
    raise Exception('The reference TCP does not exist')

# Get the reference length
len_ref = get_len_tool(tcpref1.Name())
if len_ref is None:
    print("Reference length not specified, 0 assumed")
    len_ref = 0
    
# Retrieve the pose of both tools
pose1 = tcpref1.PoseTool()

# Iterate through all tools
for tcpref2 in tcpref1.Parent().Childs():
    
    if tcpref2.Type() != ITEM_TYPE_TOOL:
        # Not a tool item, skip
        continue
        
    if tcpref1 == tcpref2:
        # this is the same tool, skip
        continue
    
    # Get the tool pose
    pose2 = tcpref2.PoseTool()

    # Retrieve the current relationship:
    pose_shift = invH(pose1)*pose2
    x,y,z,w,p,r = Pose_2_TxyzRxyz(pose_shift)

    # Variable that holds the new offset along Z axis
    newZ = None
    
    toolname = tcpref2.Name()
    len_tcp_definition = get_len_tool(toolname)
    if len_tcp_definition is None:
        print("Skipping tool without L length: " + toolname)
        continue

    # Calculate the offset according to "L" naming:
    nominal_offset = len_tcp_definition - len_ref

    while True:
        message = 'Tool:\n%s\n\nEnter the new Z offset (mm)\nCurrent offset is: %.3f' % (toolname,z)
        
        if abs(nominal_offset - z) > 0.001:
            message += '\n\nNote:\nNominal offset (%.3f-%.3f): %.3f mm\nvs.\nCurrent offset: %.3f mm\nDoes not match' % (len_tcp_definition, len_ref, nominal_offset, z)
        else:
            message += '\nOffset currently matches'
            
        if abs(x) > 0.001 or abs(y) > 0.001 or abs(w) > 0.001 or abs(p) > 0.001 or abs(r) > 0.001:
            message += '\n\nImportant: Current offset:\n[X,Y,Z,W,P,R]=[%.2f,%.2f,%.2f,%.2f,%.2f,%.2f]' % (x,y,z,w,p,r)

        value = mbox(message,entry=('%.3f - %.3f' % (len_tcp_definition, len_ref)))

        if value is False:
            print("Cancelled by the user")
            #quit()# stop
            break# go to next

        try:
            newZ = eval(value) #float(value)
            break
        except ValueError:
            print("This is not a number, try again")
    
    # Update the tool if an offset has been calculated
    if newZ is not None:
        pose_newtool = pose1*transl(0,0,newZ)
        tcpref2.setPoseTool(pose_newtool)
        print("Done. Pose set to:")
        print(pose_newtool)