Tọa độ part 1: [ 160.000000, -99.600000, 50.000000, 0.000000, 0.000000, 0.

000000 ]
Tọa độ box: [ 70.000000, -176.832000, 50.000000, 0.000000, 0.000000, 0.000000 ]
Tọa độ băng tải vật: [ -400.000000, -430.000000, 0.000000, 0.000000, 0.000000, -
90.000000 ]
Tọa độ băng tải box: [ 1190.000000, -310.000000, 0.000000, 0.000000, 0.000000,
0.000000 ]
Tọa độ cánh tay robot: [ 672.947510, 7.719360, 0.000000, 0.000000, 0.000000,
0.000000 ]
Tọa độ bàn: [ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ]

Tọa độ chuẩn bị hút: [ 663.512000, -647.543000, 212.864000, 180.000000, 0.000000, -

90.000000 ]

Tọa độ hút[ 614.275000, -647.543000, 103.465000, 180.000000, 0.000000, -90.000000 ]

Tọa độ chuẩn bị thả: [ 649.411000, -134.437000, 365.543000, 180.000000, 0.000000, -
90.000000 ]
Tọa độ vật 1: [ 649.411000, -124.437000, 95.543000, 180.000000, 0.000000, -90.000000 ]
Tọa độ vật 2: [ 819.411000, -124.437000, 95.543000, 180.000000, 0.000000, -90.000000 ]
Tọa độ vật 3: [ 649.000000, 65.563000, 95.543000, 180.000000, 0.000000, -90.000000 ]
Tọa độ vật 4: [ 819.000000, 65.000000, 95.543000, 180.000000, 0.000000, -90.000000 ]
Tọa độ vật 5: [ 659.411000, 235.563000, 95.543000, 180.000000, 0.000000, -90.000000 ]
Tọa độ vật 6: [ 819.000000, 235.563000, 95.543000, 180.000000, 0.000000, -90.000000 ]
CODE VẬT:
# Type help("robolink") or help("robodk") for more information
# Press F5 to run the script
# Note: you do not need to keep a copy of this file, your python script is saved with the station
from robolink import * # API to communicate with RoboDK
from robodk import * # basic matrix operations
RDK = Robolink()

# This script simulates a conveyor belt

CONVEYOR_NAME = 'Conveyor'
PICKABLE_OBJECTS_KEYWORD = 'Part'

# Speed of movement in MM/S with respect to the conveyor coordinates:

MOVE_SPEED_MMS = [0,30,0]
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 = 2000
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,-500]

# 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 = mult3(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()

poseiXXX = objects[len(objects)-1].PoseAbs() #Toa do

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):
# take the object
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 = 0.05
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)
if current_time>5:
objects[0].Copy()
newObject =RDK.Paste()
nameXXX='Part '+str(len(objects)+1)
newObject.setName(nameXXX)
newObject.setPose(poseiXXX)
break
CODE BOX:
# Type help("robolink") or help("robodk") for more information
# Press F5 to run the script
# Note: you do not need to keep a copy of this file, your python script is saved with the station
from robolink import * # API to communicate with RoboDK
from robodk import * # basic matrix operations

RDK = Robolink()

# This script simulates a conveyor belt

CONVEYOR_NAME = 'Conveyor2'
PICKABLE_OBJECTS_KEYWORD = ['Box', 'Part']

# 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 = 2000
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, -500]

# 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()
return (CONV_SZ_X_MIN < pos[0] < CONV_SZ_X_MAX and
CONV_SZ_Y_MIN < pos[1] < CONV_SZ_Y_MAX and
CONV_SZ_Z_MIN < pos[2] < CONV_SZ_Z_MAX)

def conveyor_move_object(pose, delta_time):

"""Moves the object pose through the conveyor depending on the time and speed"""
delta_mm = mult3(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)):
for keyword in PICKABLE_OBJECTS_KEYWORD:
if keyword in all_objects[i]:
objects.append(RDK.Item(all_objects[i]))
 objects_name.append(all_objects[i])
objects_active.append(False)
break # Break after finding the first match

# 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()
obj_box= objects[len(objects)-1]
PoseiXXX = obj_box.PoseAbs()

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):
# Take the object
 obj_i.setParentStatic(conv)
print(f'Adding object {objects_name[i]} to the conveyor')
objects_active[i] = True

# Store the position of 'Box' for later use

if 'Box' in objects_name[i]:
PoseiBox = obj_i.PoseAbs()

# Second step: Update the position of every object in the conveyor

SIMULATION_SPEED = RDK.SimulationSpeed()
time_current = toc()
time_delta = 0.05
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(f'Object {objects_name[i]} was picked from the conveyor')
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(f'Warning!! Object {objects_name[i]} fell from the conveyor at {current_time:.1f}
seconds after simulation started')
newposei = transl(FALLEN_OBJECTS) * newposei
objects_active[i] = False

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)

# Copy and paste 'Box' once at the initial position

if current_time >= 13 and PoseiBox is not None:
for obj in objects:
if 'Box' in obj.Name():
obj.Copy()
newObjectBox = RDK.Paste()
nameBox = 'Box ' + str(len(objects) + 1)
newObjectBox.setName(nameBox)
newObjectBox.setPose(PoseiBox)
break
break

CODE XÓA:
from robodk import robolink

# Kết nối với RoboDK

RDK = robolink.Robolink()

# Tạo danh sách tên đối tượng "Part" từ "Part 2" đến "Part 100"
part_names = [f'Part {i}' for i in range(11, 100)]

# Tạo danh sách tên đối tượng "Box" từ "Box 2" đến "Box 100"
box_names = [f'Box {i}' for i in range(2, 100)]

# Kết hợp hai danh sách

object_names = part_names + box_names

# Lặp qua danh sách và xóa từng đối tượng

for name in object_names:
item = RDK.Item(name, itemtype=robolink.ITEM_TYPE_OBJECT)

# Kiểm tra nếu đối tượng tồn tại

if item.Valid():
# Xóa đối tượng
item.Delete()
print(f"Đối tượng {name} đã bị xóa")
else:
print(f"Đối tượng {name} không tồn tại")