Mech-Viz 1.6 Release Notes¶
This chapter introduces the new features, improvements, and resolved issues of Mech-Viz 1.6.
Mech-Viz 1.6.2 Release Notes¶
Improvements¶
Model Editor Supporting End Effector Models in STP and STEP Formats¶
In Mech-Viz 1.6.2, Model Editor starts to support end effector models in STP and STEP formats. You can directly import an end effector model in STP or STEP format without converting formats by using SolidWorks or other software.
Resolved Issue¶
Resolved the issue that the software crashed occasionally.
Mech-Viz 1.6.1 Release Notes¶
Improvements¶
Support OBJ Models from Sources Besides the Model Editor¶
In Mech-Viz 1.6.0, all OBJ models must be generated from the built-in Model Editor, and it is not user-friendly when OBJ models from other sources are used. In Mech-Viz 1.6.1, there are no restrictions on the source of the OBJ models. When you add a collision model of the end effector, Mech-Viz can convert the OBJ model to one that is entirely composed of convex polyhedra automatically.
Hint
OBJ models already entirely composed of convex polyhedra are loaded directly without conversion.
As for OBJ models not entirely composed of convex polyhedra, their shapes may change after the one-click conversion. In this case, it is recommended to use Blender or Model Editor to edit these OBJ models before loading to ensure that they can meet the requirement.
As for models in projects of previous versions, a message asking if you would like to perform one-click conversion will pop up when you open the project in Mech-Viz 1.6.1. If you confirm to convert the model, please check if the shape of the converted model is changed or not.
The one-click conversion function currently does not support display models of end effectors, display models of scene objects, and collision models of scene objects.
Safety Alert of Virtual Camera¶
When Mech-Viz is used to guide a real robot and a “virtual camera” is used in Mech-Vision at the same time, a warning alert will pop up in order to avoid production accidents.
Resolved Issues¶
Mech-Viz 1.6.1 has fixed the following issues:
The ground style would be reset to Chessboard after the project was re-opened.
Certain robots could not be displayed in the Robot Library.
The original collision model remained displayed after switching the collision model of the end effector.
The collision model might be displayed in the wrong way when a collision was detected after switching the end effector.
Two collision models were highlighted at the same time when a collision was detected.
The ASCII STL model could not be loaded as an end effector model.
The DAE model could not be loaded as an end effector display model.
The TCP of the default display robot was not reset to the original position after the project was closed.
The end effector models was not cleared after the project was closed.
The ASCII STL scene models could not be converted to binary and saved.
The collided picked workpiece could not be recorded in the plan history.
Collision could not be displayed during the planning process.
The software might crash when a deleted Task was searched.
The “dynamic_move” Task could not adjust the pose properly according to the result from the “visual_move” Task.
There might be missed detection when the Pcl Collison Check Mode in the “relative_move” Task was set to Auto.
An error might occur when the DI port number was large in the “check_di” Task.
The classification would fail and the project would stop when the “classify” Task preceded the “visual_move” Task.
The service could not be found when “custom_pallet_pattern” or “predefined_pallet_pattern” Task was used as the visual service.
An error might occur in collision detection after the TCP direction had been modified in vacuum gripper configurator of the “visual_move” Task.
The vacuum gripper offset calculation might be incorrect when Picking Setting was set to Pick Single Carton in the “visual_move” Task.
The scene object controlled by the “update_scene_object” Task might not be selectable.
The workpiece model might not be displayed when the Property Value was selected as the Update Info Source and the Size Needs Updating checkbox was not selected in the “update_picked_obj” Task.
The size of the workpiece might be incorrect when the Property Value was selected as the Update Info Source and the Size Needs Updating checkbox was not selected in the “update_picked_obj” Task.
The collision model of the workpiece might be incorrectly displayed after the “update_picked_obj” Task was executed.
The vacuum gripper offset information printed in the log was incorrect.
Mech-Viz V1.6.0 Release Notes¶
New Features¶
Newly Added Model Editor¶
A built-in Model Editor is added in Mech-Viz V1.6.0 to facilitate users to simplify end effector models and scene models and obtain collision models in OBJ format.
Newly Added Cylindrical Ccene Models and Workobjects¶
Besides the existing box and cuboid models, cylinder models are introduced in Mech-Viz V1.6.0 to make it easier to build the scene. Please refer to :ref: create_load_model for detailed information.
Cylindrical workobject models can only be obtained via the vision results sent by Mech-Vision or generated by the update_picked_obj Task. In addtion, in Mech-Viz V1.6.0, only the collision between cylindrical workobjects and scene objects can be detected; detection of the collision between cylindrical workobjects and point cloud is currently not supported.
Updates on Tasks¶
General updates
Checkboxes are introduced for enabling/disabling parameters, replacing the previous True/False drop-down options.
A new Task ID parameter is added to all Tasks. The Tasks will be numbered automatically with unique Task IDs. Please note that Task IDs cannot be modified.
Updates on move-related Tasks
A new Send Target parameter is added to all move-related Tasks. This parameter is enabled by default, suggesting that the targets will be sent to the receiving end (e.g., a robot). You can disable this parameter if you only need the Task to plan a path but not send targets.
A new Intelligent Obstacle Avoidance feature is added to the move-type Task. This feature provides multiple candidate targets that are close to the target of the Task, which increases the feasible paths planned by Mech-Viz and the success rate of planning.
Updates on palletizing-related Tasks
A new multi_pick_palletizing Task is added. This task can compute a path for multiple-box palletizing according to the positions of the boxes to be picked and the target pallet pattern to increase the efficiency of palletizing.
A new Send Placing Pose Only parameter is added, which is disabled by default. Enabling this parameter will send the final placing pose to the receiving end (e.g., a robot).
A new Match Symmetry parameter is added in the visual_pallet_pattern Task. This parameter is used to solve the problem that the previous pallet pattern cannot match with the newly specified one since the orientations of the previously palletized cartons do not comply with the orientations of cartons in the newly specified pallet pattern.
Renamed Tasks
Before V1.6.0
V1.6.0
branch_by_service_message
branch_by_msg
branch_by_tag
branch_by_guidepost
set_tag
set_guidepost
Other Updates¶
Added Default Layout in for resetting the layout of Mech-Viz to default.
Added the option Trajectory Dragger Size in for adjusting the display size of the trajectory dragger.
Improvements¶
Robot Model Package¶
In previous versions of Mech-Viz, all of the supported robot model packages are integrated into the software, which occupies a large portion of the disk space of the computer.
From Mech-Viz V1.6.0, only the model packages of the widely used robots (about 100 types in total) are integrated in the software.
If you need to use robot models that are not included in the robot library of Mech-Viz, please download it from Robot Model Package List and then import it into Mech-Viz.
Decouple DI from Blocks in Vacuum Gripper Configurator¶
In Mech-Viz V1.6.0, DI is not dependent on block configuration of the vacuum gripper anymore. Only the DI covered by the carton will be included in the carton dropping detection.
Support TCP Rotation Adjustment in Vacuum Gripper Configurator and Array Gripper Configurator¶
You can now configure the TCP rotation in Vacuum Gripper Configurator and Array Gripper Configurator in Mech-Viz V1.6.0.
Support for Displaying and Adjusting the End Effector Sequence Number¶
Sequence number of end effectors are added in the End Effector Configuration panel and displayed in the drop-down list of Set End Effector in the tcp Task. You can drag the end effector in the End Effector Configuration panel to adjust its sequence number.
Add Euler Angles Option in Edit Pose Window¶
Poses can now be edited in Euler angles in the Edit pose window. You can now copy and paste the TCP sent by Mech-Vision or Mech-Center directly into the Edit pose window.
Singularity Detection Mode¶
A new singularity detection mode Detect joint angle of the robot is added. You can set the joint and lower/upper bound of the angle to filter the planning result that may lead to singularities.
Add Fixed Edge Corner Offset Parameter in Depallet Vacuum Gripper Mode of the Task visual_move¶
In the visual_move Task, in , a new parameter Fixed Edge Corner Offset is added for offsetting with the fixed edge corner of the vacuum gripper during depalletizing.