[Rev123]

Hi all Good Morning :),

So i've been doing my conveyor project using RunConveyor script from "Example-06.e-Conveyor with 2 UR robots" on the library. The object is moving but i want the object to rotate Y=-45 degrees when the object reach the edge. I have been editing the section where "objects that reached the end of the conveyor and were not picked" to ([0,0,0,0,-45,0]) but it turns out the object won't rotate.

This is the script:

CONVEYOR_NAME = 'ConvBI'
PICKABLE_OBJECTS_KEYWORD = 'Bundle'

# Speed of movement in MM/S with respect to the conveyor coordinates:
MOVE_SPEED_MMS = [0,50,0]
REFRESH_RATE = 0.005

# Define workspace of the conveyor to pick the objects:
CONV_SZ_X_MIN = 0
CONV_SZ_X_MAX = 440
CONV_SZ_Y_MIN = 0
CONV_SZ_Y_MAX = 990
CONV_SZ_Z_MIN = -200
CONV_SZ_Z_MAX = +500

# Move objects that reached the end of the conveyor and were not picked:
FALLEN_OBJECTS = ([0,0,0,0,-45,0])

# Get the conveyor item and reference for work space:
conv = RDK.Item(CONVEYOR_NAME)
conv_reference = conv.Parent()
poseconv = conv_reference.PoseAbs()

# One second in real life means 1 second of simulation. The simulation speed is taken from the station
SIMULATION_SPEED = 1

def is_inside_conveyor(pose):
"""Checks if a pose is inside the conveyor workspace"""
pos = pose.Pos()
if pos[0] > CONV_SZ_X_MIN and pos[0] < CONV_SZ_X_MAX and pos[1] > CONV_SZ_Y_MIN and pos[1] < CONV_SZ_Y_MAX and pos[2] > CONV_SZ_Z_MIN and pos[2] < CONV_SZ_Z_MAX:
return True
return False

def conveyor_move_object(pose, delta_time):
"""Moves the object pose through the conveyor depending on the time and speed"""
delta_mm =μlt3(MOVE_SPEED_MMS, delta_time)
newpose = transl(delta_mm)*pose
return newpose

# Get all objects (string list)
all_objects = RDK.ItemList(ITEM_TYPE_OBJECT, True)

# Convert object list into item pointers (faster)
# Also filter the list to take into account pickable objects only
objects = []
objects_name = []
objects_active = []
for i in range(len(all_objects)):
if all_objects[i].count(PICKABLE_OBJECTS_KEYWORD) > 0:
objects.append(RDK.Item(all_objects[i]))
objects_name.append(all_objects[i])
objects_active.append(False)

# The number of objects that can go in the conveyor
nobjects = len(objects)


# Infinite loop to simulate the conveyor behavior
current_time = 0
tic()
time_last = toc()
while True:
# First: Look for objects that are not in the conveyor but are in the conveyor workspace
for i in range(nobjects):
obj_i = objects[i]

# Skip if the object is already in the conveyor
if objects_active[i]:
continue

# Check if the object has already been taken by a tool. If so, do not take it in the conveyor
if obj_i.Parent().Type() == ITEM_TYPE_TOOL:
continue

# Check if the object is within the conveyor work area
posei = obj_i.PoseAbs()
poseirel = invH(poseconv)*posei
if is_inside_conveyor(poseirel):
#把对象
obj_i.setParentStatic(conv)
print('Adding object %s to the conveyor' % objects_name[i])
objects_active[i] = True

# Second step: Update the position of every object in the conveyor
SIMULATION_SPEED = RDK.SimulationSpeed()
time_current = toc()
time_delta = time_current - time_last
time_last = time_current
current_time = current_time + time_delta*SIMULATION_SPEED

# Make a list of objects with their matching positions to update
obj_items = []
obj_poses_abs = []
for i in range(nobjects):
obj_i = objects[i]

# Check if the object has been picked from the conveyor
if objects_active[i] and not obj_i.Parent().equals(conv):
objects_active[i] = False
print('Object %s was picked from the conveyor' % objects_name[i])
continue

# Skip update for objects that are not in the conveyor
if not objects_active[i]:
continue

# Update the position of the object
posei = invH(poseconv)*obj_i.PoseAbs()
newposei = conveyor_move_object(posei, time_delta*SIMULATION_SPEED)
if not is_inside_conveyor(newposei):
print('Warning!! Object %s fell from the conveyor at %.1f seconds after simulation started' % (objects_name[i], current_time))
#raise Exception('Object %s was not picked from the conveyor!' % objects_name[i])
newposei = transl(FALLEN_OBJECTS)*newposei
objects_active[i] = False

#obj_i.setPose(newposei) # this will provoke a refresh (can be slow)
obj_items.append(obj_i)
obj_poses_abs.append(poseconv*newposei)

# Update the object positions
RDK.setPosesAbs(obj_items, obj_poses_abs)

# Take a break...
pause(REFRESH_RATE)

i hope somebody will help me to solve this.

Thanks in advance.

Rev.

[Olivier]

Hi Rev,

Take a look at this example.
If that doesnt help, maybe you can share the station with me so I can have a closer look at it?

Olivier

[Rev123]

Hi Rev,

Take a look at this example.
If that doesnt help, maybe you can share the station with me so I can have a closer look at it?

Olivier

Hi Olivier,

Thank you for your help and sorry for the late response, i will try your example and also inform you my progress.

Rev