Usage Scenarios That Are Not Supported by Mech-Vision&Mech-Viz 2.1.0 Software
When you encountered any of the following scenarios, please be cautious about upgrading the software to version 2.1.0. Instead, it is recommended to keep using the 1.8 version software. If you have already upgraded the software, please refer to the workaround for each usage scenario.
Unsupported Usage Scenario 1
Scenario Description
When the point cloud source is a Step in the vision project, pick points are expected to be added with the robot teaching method in the target object editor.
For example, jogging the robot to set the pick point based on a stitched point cloud, which is captured by different cameras.
Cause
When setting the pick point through robot jogging, only point clouds directly captured by the camera are supported.
Workaround
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Convert the pick point on the teach pendant from Euler angles to quaternions and record it.
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Enter the “Import processed point cloud” workflow in the target object editor.
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In the “Import project information” phase, set the “Easy Create Poses” Step as the Source of pick point.
Unsupported Usage Scenario 2
Scenario Description
Output pick point arrays set in the target object editor. Then, sort and filter the pick points before inputting them into the “Output” Step. This process aids collision detection in Mech-Viz by filtering out pick points with obvious collision risks, thereby reducing path planning time.
Cause
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In Mech-Vision, adjusting the poses of pick point arrays can be relatively complex.
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When processing pick points, Mech-Viz regenerates the pick point array based on the settings in the target object editor, regardless of whether the received data is already a pick point array. This results in duplicate pick point arrays being generated.
Workaround
When the angle range of the pick point array is large, you can create multiple pick points that match the number and effect of the pick points in the array with the target object editor, and then perform the pose adjustment.
Unsupported Usage Scenario 3
Scenario Description
When the port type of the “Output” Step is set to “Custom,” the point cloud in the vision project is expected to be sent to an external service.
For example, when the project is not fully built, you may want to view the point cloud in the robot reference frame within Mech-Viz. Or when the predefined port types cannot meet communication requirements, you may need to define custom input ports and communication keys, as well as perform collision detection in Mech-Viz.
Cause
The “Send Point Cloud to External Service” Step was removed in Mech-Vision version 2.0.0.
Workaround
Not available yet.
Unsupported Usage Scenario 4
Scenario Description
When selecting the “Jog robot and get point cloud” workflow in the target object editor, multiple pick points are expected to be set on the same target object.
Cause
The feature is not currently supported in version 2.1.0.
Workaround
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Convert the pick points obtained by jogging the robot from Euler angles to quaternions and record them.
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Use the “Transform Poses” Step to transform the pick points from the robot reference frame to the camera reference frame.
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Import multiple pick points through the “Import processed point cloud” workflow in the target object editor.
Unsupported Usage Scenario 5
Scenario Description
Use the object center point or pick point of the target object’s point cloud model for project error-proofing.
Cause
The software cannot read the object center point saved in the target object editor with the “Read Poses from File” Step.
Workaround
Use the “Calc Results by Python” Step to parse the target object configuration file and obtain the object center point.