Overview

In scenarios where only Mech-Vision but not Mech-Viz is used, this command starts the Mech-Vision project to capture images and process image data.

In scenarios where only Mech-Vision but not Mech-Viz is used, this command reads the vision recognition results, i.e., target object pick points.

This command switches between the saved parameter recipes in Mech-Vision project. This command switches between the saved parameter recipes in the project when recognizing different target objects. Parameters involved include recognition models, deep learning model files, etc.

This command gets the collision-free path planning result of the “Path Planning” Step in Mech-Vision.

This command receives data from Step “Procedure Out” when Port Type is set to Custom in Mech-Vision. Executing this command once only fetches one pose and its corresponding labels, scores, etc. (if any) from the vision result. If expecting to receive multiple poses, please execute this command multiple times.

In scenarios where both Mech-Vision and Mech-Viz are used, this command starts the Mech-Viz project with the corresponding Mech-Vision project to plan the robot motion path.

This command manually terminates the Mech-Viz project.

This command lets the Mech-Viz project run along the specified exit port by specifying the “Branch by Msg” step.

Set the index parameter of the move-type Steps in the Mech-Viz project. The move-type Steps that contain index parameters include Move by List, Move by Grid, Custom Pallet Pattern, and Predefined Pallet Pattern.

This command obtains the robot path planned by the Mech-Viz project.

This command gets the gripper DO list calculated by Mech-Viz when multiple suction cup sections are used to pick multiple objects at a time.

This command reads the values of specified parameters of specified Steps. Please specify which parameters of which Steps to read in menu: Deployment Settings [ Mech-Interface > Advanced Settings > Property Config ] in Mech-Center.

This command sets the values of specified parameters of specified Steps. Please specify what values and which parameters of which Steps to set in menu: Deployment Settings [ Mech-Interface > Advanced Settings > Property Config ] in Mech-Center.

This command gets a single planned waypoint from Mech-Viz. The waypoint may be for a Vision Move Step, or for one of the other move-type Steps. A waypoint may contain pose, velocity, gripper info, workobject info, etc.

This command inputs object dimensions, i.e. length, width, and height, to the Mech-Vision project through Step “Read Object Dimensions”.

This command sets a dynamically changing waypoint in the Mech-Viz project through the “External Move” Step in the project.

This command does not need to be initiated by the user. It will be executed when the Mech-Viz / Mech-Vision project runs to the “Notify” Step and Mech-Center will send the notification message defined in this Step to the client.

For hand-eye calibration for cameras. This command obtains the calibration points and triggers the camera to take pictures, thus completing the calibration. The calibration points are from Mech-Vision.

This command gets the status of Mech-Mind Software Suite for checking the project status.