public sealed class MechanismBuilder

Project.UndoContext.BeginUndoStep("Build IRB140");
try
{
    // Create the different parts of the robot.
    Part Base = new Part();
    Part Link1 = new Part();
    Part Link2 = new Part();
    Part Link3 = new Part();
    Part Link4 = new Part();
    Part Link5 = new Part();
    Part Link6 = new Part();

    // Start the mechanism builder to build a robot.
    MechanismBuilder mb = new MechanismBuilder(MechanismType.Robot);

    // Set the name of the robot.
    mb.ModelName = "IRB140_M2000";

    // Add the links to the mechanism.
    mb.AddLink("Base", Base);
    mb.AddLink("Link1", Link1);
    mb.AddLink("Link2", Link2);
    mb.AddLink("Link3", Link3);
    mb.AddLink("Link4", Link4);
    mb.AddLink("Link5", Link5);
    mb.AddLink("Link6", Link6);

    // Set the base link.
    mb.BaseLink = "Base";

    // Add joints to the mechanism (connects the parts with each other).
    mb.AddJoint("J1", "Base", "Link1", new Vector3(0, 0, 0), new Vector3(0, 0, 0.117), JointType.Rotational, true);
    mb.AddJoint("J2", "Link1", "Link2", new Vector3(0.070, -0.109, 0.352), new Vector3(0.070, -0.108, 0.352), JointType.Rotational, true);
    mb.AddJoint("J3", "Link2", "Link3", new Vector3(0.070, -0.073, 0.712), new Vector3(0.070, -0.072, 0.712), JointType.Rotational, true);
    mb.AddJoint("J4", "Link3", "Link4", new Vector3(0.3075, 0, 0.712), new Vector3(0.3085, 0, 0.712), JointType.Rotational, true);
    mb.AddJoint("J5", "Link4", "Link5", new Vector3(0.450, 0.030, 0.712), new Vector3(0.450, 0.031, 0.712), JointType.Rotational, true);
    mb.AddJoint("J6", "Link5", "Link6", new Vector3(0.515, 0, 0.712), new Vector3(0.516, 0, 0.712), JointType.Rotational, true);

    // Set the limits of the joints (in radians).
    mb.SetJointLimit("J1", -180 * System.Math.PI / 180, 180 * System.Math.PI / 180);
    mb.SetJointLimit("J2", -90 * System.Math.PI / 180, 110 * System.Math.PI / 180);
    mb.SetJointLimit("J3", -230 * System.Math.PI / 180, 50 * System.Math.PI / 180);
    mb.SetJointLimit("J4", -200 * System.Math.PI / 180, 200 * System.Math.PI / 180);
    mb.SetJointLimit("J5", -120 * System.Math.PI / 180, 120 * System.Math.PI / 180);
    mb.SetJointLimit("J6", -400 * System.Math.PI / 180, 400 * System.Math.PI / 180);

    // Add flange.
    Matrix4 flangeOffset = new Matrix4(new Vector3(0, 0, -1), new Vector3(0, 1, 0), new Vector3(1, 0, 0), new Vector3(0.515, 0, 0.712));
    mb.AddFlange("wrist", "Link6", flangeOffset, false);

    // Set the base frame.
    mb.BaseFrame = Matrix4.Identity;

    // Set the home position.
    double[] homeJointsPos = { 0, 0, 0, 0, 30 * System.Math.PI / 180, 0 };
    mb.SetSyncJointPosition(homeJointsPos);

    // Set the calibration position.
    Matrix4[] calibPos = { Matrix4.Identity };
    mb.SetCalibrationPosition(calibPos);

    // Set the joint mask (the active joints).
    int[] jointMask = { 1, 1, 1, 1, 1, 1 };
    mb.SetJointMask(jointMask);

    // Create the mechanism (compile it), and set its name.
    Mechanism mech = mb.CompileMechanism();
    mech.Name = "MyIRB140";

    // Add it to the station.
    Station station = Station.ActiveStation;
    station.GraphicComponents.Add(mech);
}
catch
{
    Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
    throw;
}
finally
{
    Project.UndoContext.EndUndoStep();
}