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 Step. In addition, 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 Steps¶
General updates
Checkboxes are introduced for enabling/disabling parameters, replacing the previous True/False drop-down options.
A new Step ID parameter is added to all Steps. The Steps will be numbered automatically with unique Step IDs. Please note that Step IDs cannot be modified.
Updates on move-related Steps
A new Send Waypoint parameter is added to all move-related Steps. This parameter is enabled by default, suggesting that the waypoints will be sent to the receiving end (e.g., a robot). You can disable this parameter if you only need the Step to plan a path but not send waypoints.
A new Intelligent Obstacle Avoidance feature is added to the move-type Step. This feature provides multiple candidate waypoints that are close to the waypoint of the Step, which increases the feasible paths planned by Mech-Viz and the success rate of planning.
Updates on palletizing-related Steps
A new Multi Pick Palletizing Step 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 Vision Continue Palletizing Step. 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 Steps
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 Step. 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 Step Vision Move¶
In the Vision Move Step, in , a new parameter Fixed Edge Corner Offset is added for offsetting with the fixed edge corner of the vacuum gripper during depalletizing.