Visual Studio. Create body and attach it to positioner

RobotStudio
1

Hi everyone!

I want to use VSTA to create object and attach it to positioner. I created body. How can I attach it to IRBP A (using code)?

I think I need add only one line like:

*******.Attach(p, true, new Matrix4(new Vector3(0.0, 0.0, 1.0)));

My code:

public void Macro_Sample1()
{
Project.UndoContext.BeginUndoStep(“BodyCreateSolids”);
try
{
Station station = Project.ActiveProject as Station;
Mechanism mech = station.ActiveTask.Mechanism;
Part p = new Part();
p.Name = “My_Solid_Bodies”;
station.GraphicComponents.Add(p);

// Create a cylinder.
Matrix4 matrix_origo1 = new Matrix4(new Vector3(Axis.X), 0.0);
Vector3 size1 = new Vector3(0.500, 0.500, 0.500);
Body b1 = Body.CreateSolidCylinder(matrix_origo1, 0.5, 0.5);
b1.Name = “Cylinder1”;
p.Bodies.Add(b1);

}

catch {}
finally {}

}