Mech-Viz Release Notes
Mech-Viz 2.1.1 Release Notes
This document introduces the new features, improvements, and resolved issues of Mech-Viz 2.1.1.
New Features
Brand New Vision Result Visualization Effect
In Mech-Viz 2.1.1, target object and pick point information can be intuitively displayed in the 3D simulation area, integrated with the plan history query feature to enhance the debugging experience.
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Rich information display: Provides detailed information on target objects and pick points in the vision result details window.
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Efficient query interaction: Enables filtering plan history by target object or pick point, with one-click navigation to the 3D simulation area.
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Pick point status display: Quickly locates the cause of path planning failures, improving troubleshooting efficiency.
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Improved visualization settings: Enables displaying pick points within a specified range to avoid visual clutter caused by excessive pick points.
Restructured Configuration Interface of the “Execute Tool Action” Step
Starting from Mech-Viz 2.1.1, the control logic configuration for regular tools has been moved to parameter configuration panel of the Execute Tool Action Step, facilitating one-stop configuration of tool DO and action execution. With the automatic tool changing feature, the workflow for multi-tool picking tasks can be significantly simplified.
Brand New Measurement Mode in 3D Simulation Area
In Mech-Viz 2.1.1, a measurement mode was added to the 3D simulation area, allowing users to measure distances, angles, and circle diameters on scene models and point clouds. This feature helps verify positions of scene objects and model dimensions, making it easier to validate scene layouts and improve tuning efficiency.
Built-in Mech-Eye Camera Model Library Added
A Camera option has been added under Scene model in Scene objects of the project resource tree, making it easier to quickly add Mech-Eye camera models in the 3D simulation area and enhance the product demonstration effect.
New “Proceed after Exposure Complete (ETH)” Parameter Added to the “Visual Recognition” Step
A new “Proceed after Exposure Complete (ETH)” parameter has been added to the “Visual Recognition” Step, enabling continuous workflow execution without waiting for camera exposure to complete, effectively improving on-site cycle time.
This feature is mainly used in the following two scenarios:
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In the Standard Interface communication mode, when Return “1102: Successfully triggered” after capture is selected under Robot Communication Configuration in Mech-Vision, the status code will be returned immediately once the camera is triggered, allowing the robot to start moving without waiting for the Mech-Vision project to finish executing.
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In the Master-Control communication mode:
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When the camera is mounted in the EIH method, the workflow always waits for the camera exposure to complete before proceeding.
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When the camera is mounted in the ETH method and the Proceed after Exposure Complete (ETH) parameter is selected, the workflow waits for the camera exposure to complete before proceeding. This feature effectively addresses light interference issues in multi-camera collaboration scenarios by ensuring cameras capture images in sequence, thereby improving production cycle time.
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Support Path Planning Based on Pick Point Priority Defined by Mech-Vision
When setting pick points in the target object editor, enabling Vision result with pick point array allows Mech-Vision to filter and sort pick points in the generated array and before sending them to Mech-Viz. Afterwards, Mech-Viz will plan a path based on the pick point priority defined by Mech-Vision, without regenerating the array from the pick points.
Improvements
Mech-Viz 2.1.1 introduced the following improvements:
Collision Detection
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The base position of point cloud columns can be specified and is visualized in the 3D simulation area.
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The “Problem 2” and “Problem 3” under Solutions to common problems have been combined and restructured to improve configuration efficiency.
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The logic of the collision detection algorithm has been improved.
Improved “Smart Path in Bin” Step
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In manual mode, the attempt sequence of strategy for exiting the bin can be customized.
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Automatic generation of paths to enter and exit the bin based on the actual dimensions of the target object is supported, allowing the lifting height to be calculated precisely to avoid collisions.
User Interface Interaction and Display
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Project Resource Tree
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A button has been added to the right of the Robot entry to directly open the robot model library.
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Double-clicking the target object name navigates to the Edit model process in the target object editor.
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Double-clicking the pick point name navigates to the Set pick point process in the target object editor.
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Plan History
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In the plan history, double-clicking a Step with a failed planning will directly navigate to that Step.
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Right-clicking JPs in the plan history and selecting Replay Pose can replay the pose in the 3D simulation area.
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Double-clicking a Step under the Source column in the log can directly navigate to that Step.
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When JPs exceed the joint limit, the out-of-limits JPs will be highlighted in the interface, and various solutions will be provided in a pop-up window.
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For target objects of irregular shapes, when a placed or to-pick target object collides, the collision model can be visualized in the 3D simulation area.
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The operation interaction for the Reset Step has been improved for better usability.
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When adding a scene object model, a prompt will appear reminding you to reserve a safety margin for common 3D shapes and to simplify external model files.
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For palletizing applications, the display effect of the box index in the 3D simulation area has been improved.
Others
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To support the precise placement of objects with multiple pick points, the process for teaching object poses has been improved. For details, see Teach Target Object Pose.
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The number of vision records to be saved in the project resource tree can be customized, and vision record saving can be disabled entirely.
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Filtering poses based on multiple target object names, pick point names, or pick point labels are supported in the “Vision Move” step.
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The button text in the lower parameter panel of move-type Steps has been improved.
Resolved Issues
The following issues have been resolved in Mech-Viz 2.1.1:
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The model names in the robot model library did not match the actual robot model names.
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In the box depalletizing mode of the “Vision Move” Step, 180° symmetry was incorrectly applied to the target object by default.
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After modifying the Attempt Sequence of the “Classify” Step, the updated Attempt Sequence did not take effect when the project was run again.
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When the “Classify” Step was added before the “Vision Move” Step, the planning process was incorrectly interrupted, and an error message popped up.
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After modifying scene objects with sub-models, the sub-models were lost.
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The Adapter Name could not be entered in the “Execute Tool Action” Step.
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After restarting the software, the Log option under View were automatically selected.
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In certain cases, the “Reset” Step incorrectly reset Steps or parameters.
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When the diameter of a horizontally placed cylindrical target object exceeded its height, the Z-axis at the object center incorrectly pointed toward the cylinder base.
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When the Discard Attempt Radius parameter under Avoid Picking on Same Target Object in the “Vision Move” Step was set to 0, the feature did not function properly.
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No error message was prompted when the Translation distance in the “Relative Move” Step was set to 0.
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When STL models were scaled in model configuration, clicking Click to zoom collision details in the plan history panel caused abnormal scaling in the 3D simulation area.
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When the workflow included two “Vision Move” Steps and both failed in the planning, an internal error occurred.