Release Notes

Epic Pro Update Notes

Epic Pro 1.3.0.1 Update Notes

Bug Fixes

Fixed the issue of incorrect joint angle acquisition for initial planning points during runtime interface planning, leading to inverse kinematics failure;
Fixed the issue where collision detection failed to properly add after deletion when switching communications between different configurations in the same space;
Fixed the issue where old path display was not cleared on the planning page after manually clicking to display the last planned path;
Fixed the issue where other grasp points were not synchronously cleared after successful grasping of one point when multiple grasp points existed for the same object;
Fixed the abnormal color display issue of warning logs in the log panel;

Optimizations

Optimized 3D point cloud rendering order in the view;
Added total duration information to log panel printing, calculating the overall time from photo capture to detection completion.

Epic Pro 1.3.0 Update Notes

To install the new version, you need to delete the old version’s Extensions folder (.transfertech/epic-pro/Extensions);
Direct import of solutions from the old version is not supported;

Motion Planning Module and Logging System

Motion Planning Module

The completely redesigned Motion Planning Module features a ground-up reconstruction of detection and planning algorithms, with reimagined configuration interactions for grasp and retraction paths. It now supports multiple pre-grasp and pre-retraction points, and introduces a detailed planning panel displaying comprehensive path detection results. Significant improvements have been made to robot trajectory visualization and collision zone detection, making it more intuitive to configure and debug, thereby substantially improving project solution development efficiency.

Logging System

The new Logging System introduces log level management, keyword search capabilities, and log downloading features. It supports direct frontend log downloads and recent log viewing through popup windows, greatly enhancing log viewing and management efficiency.

Log Level Management
- Backend log categorization and classification
- Frontend log level color coding
- Customizable level combination viewing
Keyword Search
- Quick keyword search support
- Highlighted search results
- Quick navigation using up/down keys
- Search result filtering
- Display of lines containing search keywords only
Log Download
- Direct frontend log download support
- Recent log viewing and download through popup window
View Control
- Drag-to-resize and collapsible log display panel
- One-click panel expansion and restoration

Key Updates

Communication Protocol Optimization

Version 1.3.0.1 includes a comprehensive upgrade of the Motion Planning Module with corresponding communication protocol adjustments.

Action	Legacy Robot Command Code	1.3.0.1 New Command Code
Detection	120,requested_pose_points (Default: 1 pose when only 120 is input)	Standard Detection: 120,pose_points_count,0 Grasp Path Planning Only: 120,grasp_path_count,0 With Retraction Path Planning: 120,grasp_path_points_count,retraction_path_points_count
Capture+Detection	220,camera_id1,camera_id2… (Default: first camera if no camera_id)	Standard Detection: 220,grasp_points_count,0 Grasp Path Planning Only: 220,grasp_path_points_count,0 With Retraction Path Planning: 220,grasp_path_points_count,retraction_path_points_count
Capture+Robot_Capture_Pose+Detection	250,camera_id,X,Y,Z,pose	Standard Detection: 250,camera_id,X,Y,Z,pose,grasp_points_count,0 Grasp Path Planning Only: 250,camera_id,X,Y,Z,pose,grasp_path_points_count,0 With Retraction Path Planning: 250,camera_id,X,Y,Z,pose,grasp_path_points_count,retraction_path_points_count
Switch_Space_Object+Capture+Detection	320,space_id,grasp_obj_id,camera_id1,camera_id2… (Default: first camera if no camera_id)	Standard Detection: 320,space_id,grasp_obj_id,camera_id1,camera_id2…,grasp_points_count,0 Grasp Path Planning Only: 320,space_id,grasp_obj_id,camera_id1,camera_id2…,grasp_path_points_count,0 With Retraction Path Planning: 320,space_id,grasp_obj_id,camera_id1,camera_id2…,grasp_path_points_count,retraction_path_points_count
Switch_Space_Object+Capture+Robot_Capture_Pose+Detection	350,space_id,grasp_obj_id,camera_id,X,Y,Z,pose	Standard Detection: 350,space_id,grasp_obj_id,camera_id,X,Y,Z,pose,grasp_points_count,0 Grasp Path Planning Only: 350,space_id,grasp_obj_id,camera_id,X,Y,Z,pose,grasp_path_points_count,0 With Retraction Path Planning: 350,space_id,grasp_obj_id,camera_id,X,Y,Z,pose,grasp_path_points_count,retraction_path_points_count

Action

Legacy Robot Command Code

1.3.0.1 New Command Code

Detection

120,requested_pose_points

(Default: 1 pose when only 120 is input)

Standard Detection: 120,pose_points_count,0

Grasp Path Planning Only: 120,grasp_path_count,0

With Retraction Path Planning: 120,grasp_path_points_count,retraction_path_points_count

Capture+Detection

220,camera_id1,camera_id2…

(Default: first camera if no camera_id)

Standard Detection: 220,grasp_points_count,0

Grasp Path Planning Only: 220,grasp_path_points_count,0

With Retraction Path Planning: 220,grasp_path_points_count,retraction_path_points_count

Capture+Robot_Capture_Pose+Detection

250,camera_id,X,Y,Z,pose

Standard Detection: 250,camera_id,X,Y,Z,pose,grasp_points_count,0

Grasp Path Planning Only: 250,camera_id,X,Y,Z,pose,grasp_path_points_count,0

With Retraction Path Planning: 250,camera_id,X,Y,Z,pose,grasp_path_points_count,retraction_path_points_count

Switch_Space_Object+Capture+Detection

320,space_id,grasp_obj_id,camera_id1,camera_id2…

(Default: first camera if no camera_id)

Standard Detection: 320,space_id,grasp_obj_id,camera_id1,camera_id2…,grasp_points_count,0

Grasp Path Planning Only: 320,space_id,grasp_obj_id,camera_id1,camera_id2…,grasp_path_points_count,0

With Retraction Path Planning: 320,space_id,grasp_obj_id,camera_id1,camera_id2…,grasp_path_points_count,retraction_path_points_count

Switch_Space_Object+Capture+Robot_Capture_Pose+Detection

350,space_id,grasp_obj_id,camera_id,X,Y,Z,pose

Standard Detection: 350,space_id,grasp_obj_id,camera_id,X,Y,Z,pose,grasp_points_count,0

Grasp Path Planning Only: 350,space_id,grasp_obj_id,camera_id,X,Y,Z,pose,grasp_path_points_count,0

With Retraction Path Planning: 350,space_id,grasp_obj_id,camera_id,X,Y,Z,pose,grasp_path_points_count,retraction_path_points_count

Shortcut command response codes in Epic Pro now match the sent command codes, maintaining consistency with single command responses. For example, the [Capture+Detection] command 220 now returns 220 on success, instead of the previous 120.
Optimized robot status code table with streamlined codes, reorganized documentation based on functionality and operation sequence, and added detailed annotations.

Data Storage Optimization

Enhanced data storage hierarchy with OK/NG folder categorization in solution directories (NG data indicates no ATOM response or motion planning results). Automatic deletion of oldest files when storage limit is reached. The storage hierarchy for camera raw data and runtime screenshots is as follows:

Camera Raw Data
└── Solution
    ├── OK
    │   └── Date
    │       └── Workspace
    │           └── Grasp_Config
    │               └── frameid.epicraw (Camera Raw Data)
    └── NG
        └── Date
            └── Workspace
                └── Grasp_Config
                    └── frameid.epicraw (Camera Raw Data)

Software Screenshots
└── Solution
    ├── OK
    │   └── Date
    │       └── Workspace
    │           └── Grasp_Config
    │               └── frameid.png (Screenshot Data)
    └── NG
        └── Date
            └── Workspace
                └── Grasp_Config
                    └── frameid.png (Screenshot Data)

Added [Data Storage Mode] options: Save All Data, Save OK Data Only, or Save NG Data Only.
Data storage interface supports hook calls for custom storage logic implementation.

Multi-Tool Support in Single Space

Scene configuration now supports multiple tool uploads with single tool display. Tools can be switched through list selection, with the latest upload set as default. Tool binding is mandatory for motion planning when multiple tools exist, ensuring each grasp point has an associated tool.

Additional Updates

Smart Camera System Time Calibration

For ARM architecture smart cameras, Epic Pro settings now include system time calibration. Automatic time synchronization is enabled by default, updating camera system time to browser time when the interface is opened. Manual date and time adjustment is available for inaccurate local system time.
Enhanced Point Cloud Generation Tool
- Circular point cloud generation by setting [Inner Radius] to 0 in ring generation parameters
- Rectangular plane point cloud generation by setting [Height] to 0 in cube generation parameters
Absolute Pose Accuracy Check

Added absolute pose accuracy verification displaying axis angles (x,y,z) between two calibration board poses, measured in degrees.
Version Update Notification

First-launch popup displaying current version updates.

UI/UX Improvements

Enhanced Pose Drag Interaction

To improve precision and prevent accidental pose changes during view adjustment, version 1.3.0.1 requires "Shift key + Left mouse button drag" to activate pose draggers for point clouds and models. Left mouse button alone remains dedicated to view adjustment.
Optimized Grasp Configuration Interaction
- Manual camera capture initiation required upon entering grasp configuration interface
- Multiple detections and path planning supported with single camera data capture
Optimized robot and communication connection icons with improved hover tooltips
Unified planning and detection status indicators with hover text
Converted robot selection and modification text buttons to icon buttons
Refined interface details and icon designs
Improved internationalization with enhanced text localization

Bug Fixes

Fixed the issue of incomplete update quantity when pulling the robot model library.
Fixed the risk prompt issue during software installation on Windows systems.
Updated the log error reporting method to resolve performance lag issues.
Resolved the issue where camera parameter settings would default to previous configurations after creating a new capture configuration.
Resolved the issue where collision detection or path planning required uploading the capture object model.