[Marwa Moronya]

Hello, I have an object attached to my conveyor, but when I run the RunConveyor macro script provided by Robodk, I get an error of
"if all_objects[i].count(PICKABLE_OBJECTS_KEYWORD) > 0:
AttributeError: 'Item' object has no attribute 'count'"

Could someone help me out. 

Below is the full code provided by RoboDK. 

Code:

# More information about the RoboDK API here:
# https://robodk.com/doc/en/RoboDK-API.html
# Type help("robodk.robolink") or help("robodk.robomath") 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 robodk.robolink import *  # API to communicate with RoboDK
from robodk.robomath import *  # basic matrix operations

RDK = Robolink()

# This script simulates a conveyor belt
CONVEYOR_NAME = 'Conveyor Belt (2m)'
PICKABLE_OBJECTS_KEYWORD = 'Bottle'

# Speed of movement in MM/S with respect to the conveyor coordinates:
MOVE_SPEED_MMS = [0, 5, 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)

# 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)
print(nobjects)

# 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):
            # 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 = 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 obj_i.Parent() != 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)

[Albert]

To fix this issue you should replace this line:

Code:

all_objects = RDK.ItemList(ITEM_TYPE_OBJECT)

for this:

Code:

all_objects = RDK.ItemList(ITEM_TYPE_OBJECT, True)

Simply add the second parameter to the function. You can find more information about the ItemList function here:
https://robodk.com/doc/en/PythonAPI/robo...k.ItemList

Where did you get this example script from?

[Marwa Moronya]

Thank you.
I got the from macros library provided by default when one downloads RoboDK.

[Albert]

OK thanks for letting us know. We'll improve this example with our next release.