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3D Camera Cube Software Image 26.07.0 – Release Notes#

New Features#

  • Pack (rc_pack)
    • This new module computes placement poses for objects inside a packing volume, such as a bin or a pallet. It takes the current filling state of the packing volume into account and selects the lowest position that provides stable support for the object, thereby maximizing the remaining space after placement and keeping as many packing options open as possible for the next object to be placed.
  • A new object category, "Mail Items", has been added to ItemPickAI (rc_itempick), enabling detection of mail items such as parcels, packages, and shipping bags. Suction grasps are computed at the center of each object so that oriented placement is possible.
  • ItemPickAI (rc_itempick) and BoxPick (rc_boxpick) now offer a new run-time parameter, discard_cut_off_items, which discards objects cut off by the image border, the stereo ROI, the 3D ROI, or the stereo overlap. This ensures that grasps are only computed for objects that are fully within the field of view.
  • CADMatch(rc_cadmatch) offers a new service call for teaching grasp poses directly with the robot: move the robot into the desired grasping pose and record its TCP (Tool Center Point) pose. This makes grasp definition easier and more reliable, especially for complex grippers or grippers that contact the object at multiple distant points, where small rotational errors in a manually defined grasp point can have an outsized effect on the actual gripper pose.

Improvements and Fixes#

  • Updated root file system to fix CVEs
  • ItemPickAI (rc_itempick)
    • Improved quality of the "Sheet Metal" object segmentation model
    • Faster processing times due to inference speed-up
    • Added new service detect_items, which returns the items with their poses and bounding boxes
    • Fixed grasp orientation when the grasp's long axis is not aligned with the object's long axis
  • SilhouetteMatchAI (rc_silhouette)
    • Improved quality of the "Sheet Metal" object segmentation model
    • Faster processing times due to inference speed-up
  • BoxPick (rc_boxpick)
    • Items returned by detect_items are now also sorted according to the user-defined sorting strategy
  • LoadCarrier (rc_load_carrier)
    • Added new service detect_filling_level_as_image, which returns filling level values as compact, zlib-compressed, base64-encoded image strings for faster responses when the number of cells is large
  • GripperDB (rc_gripper_db)
    • Increased maximum element dimensions and position bounds from 1.0 to 5.0 meters
  • All detection modules
    • The return code value and message of the last detection are now reported in the modules' status values
  • Generic Robot Interface (GRI)
    • Support returning additional data in data_4 - data_10
    • Support passing dynamic arguments in data_1 - data_4
  • Stereo ace
    • Added support for cameras with firmware >= 1.5.0 to fix a synchronization bug
    • Added network-interface-based device filtering
  • UserSpace
    • Fixed migration from versions older than 26.04.0
    • Updated Portainer to 2.39.5
  • WebGUI
    • Improvements to the blaze, Zivid, and Orbbec pipelines
    • Added orthographic view mode to 3D viewers
    • Minor improvements and fixes