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Stereo visard Software Image 26.01.0 – Release Notes#

New Features#

  • Support of suction cups and movable fingers in gripper definition (rc_gripper_db) and CollisionCheck (rc_collision_check)
    • When modelling a gripper, single gripper elements can be assigned a function_type, e.g. SUCTION_CUP or FINGER. Elements marked as suction cups will be ignored during collision checking, so that suction cups can now be modelled correctly for point cloud collision checking of suction grasps. Elements marked as fingers can have variable positions. By defining the zero position of the finger elements, variable strokes can be assigned to user-defined grasps in SilhouetteMatch. This makes the grasp definition with collision checking in complex applications more comfortable.
  • New detection services for easier response parsing in BoxPick (rc_boxpick) and SilhouetteMatch (rc_silhouettematch)
    • The new services compute_grasps_extended in BoxPick, and detect_object_extended in SilhouetteMatch perform the same detection tasks as their non-extended counterparts, but deliver the results in a different structure that is easier to parse. Instead of returning items or matches as a separate list next to the grasps, each grasp in the response now contains information about its corresponding object, e.g. the object's pose that is required for exact placement. Thus, retrieving the object information has become much easier.
  • gRPC Interface
    • A new ImageEventsInterface service allows sending depth_acquisition_done events that signal when the image acquisition for depth computation is completed. This event can be used to determine when it is safe to move the robot or change the scene while a detection is still in progress. This helps for optimizing cycle times in robot applications.

Improvements and Fixes#

  • CollisionCheck (rc_collision_check)
    • Added new parameter pointcloud_watertight that allows to switch off filling holes in the depth image for point cloud collision checking
  • Generic Robot Interface
    • Support of fragmented TCP messages by TCP message buffering
  • ItemPick (rc_itempick)
    • Fixed wrong number of items returned if allow_any_grasp_pose is active
    • Removed empty template_id and view fields from ItemPick responses
  • WebGUI
    • Minor layout improvements and fixes