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3D Camera Cube Software Image 25.07.0 – Release Notes#

New Features#

  • ItemPickAI (rc_itempick)
    • A new object category "Consumer Goods" has been added, which allows for detecting a large variety of general consumer products, such as packaged food, beverages, toiletries, cleaning supplies, etc. Suction grasps are computed in the objects' centers so that oriented placement is possible.
  • ItemPickAI, ItemPick (rc_itempick) and BoxPick (rc_boxpick)
    • Grasps can optionally be checked for collisions between the gripper and the point cloud. This allows for collision-free grasp computation also for two-finger grippers.
  • CADMatch (rc_cadmatch) and SilhouetteMatch (rc_silhouettematch)
    • When sorting grasps according to the smallest angular deviation from the preferred TCP orientation, it is possible to select only a single axis that should be considered during sorting. This gives more appropriate grasps when picking continuously symmetric objects from bins using this sorting strategy.

Improvements and Fixes#

  • CADMatch (rc_cadmatch)
    • Improvements of pose refinement and accessibility computation
  • Stereo camera calibration (rc_stereocalib)
    • The last pose can now also be 20% closer instead of only 20% further away to improve usability
  • Hand-eye calibration (rc_hand_eye_calibration)
    • Improved robustness of grid detection. Up to four squares can now be occluded.
    • Rejecting grid detections with high errors
  • GripperDB (rc_gripper_db) and CollisionCheck (rc_collision_check)
    • Fixed long conversion time for large CAD models leading to timeouts during gripper CAD element upload
  • ItemPick, ItemPickAI (rc_itempick), BoxPick (rc_boxpick), SilhouetteMatch (rc_silhouettematch) and CADMatch (rc_cadmatch)
    • Fixed using wrong load carrier detection parameters after startup
  • WebGUI
    • Show warning if camera calibration indicates a baseline change, which in almost all cases means wrong grid dimensions
    • Show model type and suction surface size or item dimensions for ItemPick and ItemPickAI detection result
    • Improved 2D and 3D result visualization of ItemPick, ItemPickAI and BoxPick
    • Added counter and capacity text to all database lists
    • Minor fixes