Robotiq Wrist Camera URCap release notes

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Release UCC-3.44.0 (2026/01/30)
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Tested on PolyScope 5.26.0

[BUGFIX] Supports PolyScope 5.26.0

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Release UCC-3.8.0 (2024/05/09)
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Tested on PolyScope 5.16.0

[IMPROVEMENT] Improved white balance algorithm.
[BUGFIX] Changes the name of the urcap from urcap-xxxxxxxxx.urcap to Robotiq_Camera-xxxxxxxxx.urcap

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Release UCC-2.5.5 (2023/09/07)
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Compatible with PolyScope 5.13.1 and 5.14.1

[IMPROVEMENT] Improvement to support the new polyscope version.

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Release UCC-1.11.3 (2021/09/10)
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Compatible with PolyScope 3.15 and 5.11.

[BUGFIX] Fixed an issue where the camera settings were not displaying during the Test/Modify step of the Scan Code and Cam Locate nodes.
[BUGFIX] Fixed an issue where an offset tool center point (TCP) with a non-zero RZ value could cause an error during the definition of the Snapshot position.

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Release UCC-1.11.2 (2021/05/19)
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Compatible with PolyScope 3.15 and 5.10.

[BUGFIX] Urcap could generate an error during installation when Copilot is already installed on the robot.

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Release UCC-1.11.1 (2021/03/29)
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Compatible with PolyScope 3.15 and 5.10.

[IMPROVEMENT] To change the calibration of a CamLocate node, the user needs to set also the model position. 
[IMPROVEMENT] When the calibration of a CamLocate node has been changed, MoveL/MoveP nodes using Feature Points from the previous calibration are changed accordingly.

[BUGFIX] During Cam Locate Model definition, we have fixed a score meter display issue when the user goes back to step Model Configuration.

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Release UCC-1.10.4 (2021/03/24)
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Compatible with PolyScope 3.15 and 5.10.

[NEW] Support Polyscope 3.15 and 5.10.

[BUGFIX] When many cameras are connected to the robot, the URCap always uses the Robotiq Wrist Camera.

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Release UCC-1.11.0 (2021/01/29)
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Compatible with PolyScope 3.13 and 5.8.

[NEW] During calibration, workplane and snapshot definition : added the import position from another snapshot.
[NEW] Calibration names are now displayed in the Tag list.  
[NEW] The calibration used in a CamLocate node can now be changed.
[NEW] The calibration used for a Tag can now be changed.
[NEW] Tag can now be duplicated.
[NEW] In Installation->snapshot tab : the robot can be moved to any defined snapshot.
[NEW] During calibration, workplane and snapshot definition : added robot motion controls.
[NEW] During tag definition : robot motion controls can now rotate the camera using the lens axis.
[NEW] The Urcap is now translated in Italian.
[NEW] CamLocate node : Added notifications for different state (calibration is invalid, calibration has been changed since the model has been defined, etc).

[IMPROVEMENT] During Calibration/Snapshot definition : camera settings can be changed without opening a different page.
[IMPROVEMENT] During Cam Locate Model definition : visual improvements and camera settings can be changed without opening a different page.
[IMPROVEMENT] During tag definition : spherical robot motion controls use the tag as a reference point for moving.
[IMPROVEMENT] During tag definition : visual feedback of angle and distance indicators has been improved.

[BUGFIX] Fixed the behavior when the SaveImage node directory name has accented characters.
[BUGFIX] Fixed a situation where the Urcap erroneously asked to update the camera firmware.

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Release UCC-1.10.3 (2020/09/10)
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Compatible with PolyScope 3.13 and 5.8.

[BUGFIX] Fixed the error 'list does not have required length of 6' when using the robot controls during tag definition when Polyscope is set in languages other than English
[BUGFIX] In the tag teaching wizard, we have fixed the robot movement when the user TCP offset has orientation (ex: Dual grippers)
[BUGFIX] In the tag teaching wizard, we have fixed a performance issue that could happened if the robot controls has been used.

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Release UCC-1.10.2 (2020/08/11)
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Compatible with PolyScope 3.13 and 5.8.

[BUGFIX] Fixed error message when importing a CAD file with an invalid file name.

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Release UCC-1.10.1 (2020/07/28)
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Compatible with PolyScope 3.13 and 5.8.

[NEW] CAD models (DXF-R12) can be imported for a Cam Locate.
[NEW] Finding a tag with a Find Visual Offset is done in two steps to increase precision.
[NEW] During tag definition : added live tag detection.
[NEW] During tag definition : added robot motion controls.
[NEW] During tag definition : added alignment tools to optimize tag detection.
[NEW] During tag definition : added angle and distance indicators.
[NEW] Added light intensity heatmap as a camera view.

[IMPROVEMENT] Feature point for calibrations and tags are automatically generated.
[IMPROVEMENT] A new Cam Locate associated with an automatically generated feature point can have its model position updated without affecting existing waypoints.
[IMPROVEMENT] During tag definition, camera settings can be changed without opening a different page.

[CHANGE] Changes made to a snapshot position, work plane or calibration will be applied to a Cam Locate using them.
[CHANGE] Split tag modification wizard to allow snapshot positions and camera settings modifications without setting the tag position.

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Release UCC-1.9.4 (2020/06/04)
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Compatible with PolyScope 3.9 and later.
Compatible with PolyScope 5.3 and later.

[BUGFIX] Workaround to avoid the Concurrent Modification Exception.
[BUGFIX] Workaround to make program navigation faster.

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Release UCC-1.9.3 (2020/04/09)
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Compatible with PolyScope 3.9 and later.
Compatible with PolyScope 5.3 and later.

[CHANGE] Now compatible with UR16 robot model.
[CHANGE] Now compatible with PolyScope 3.13 and 5.8.

[BUG FIX] Fixed an issue where logs would accumulate on disk.

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Release UCC-1.9.2 (2019/11/28)
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Compatible with PolyScope 3.9 and later.
Compatible with PolyScope 5.3 and later.

[CHANGE] When a Apply Visual Offset node is run, a warning is displayed if no tag was found during the Find Visual Offset node.

[IMPROVEMENT] Inserting a Find Visual Offset node automatically inserts an Apply Visual Offset node.
[IMPROVEMENT] Improved tag detection.

[BUG FIX] Fixed an issue where data could remain in memory despite changing programs.
[BUG FIX] Find Visual Offset node no longer causes a freeze following a protective stop.
[BUG FIX] Fixed an issue that occasionally prevented the Full Calibration from starting.

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Release UCC-1.9.1 (2019/10/29)
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Compatible with PolyScope 3.9 and later.
Compatible with PolyScope 5.3 and later.

[BUG FIX] When teaching an object in a Cam Locate node, the screen would freeze if a timeout occurred.
[BUG FIX] Minor communication issues with the Vision Server.

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Release UCC-1.9.0 (2019/10/11)
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Compatible with PolyScope 3.9 and later.
Compatible with PolyScope 5.3 and later.

[NEW] Added Find Visual Offset and Apply Visual Offset nodes to use a tag to offset moves.
[NEW] Added Scan Code node to read barcodes and 2D codes.
[NEW] Added Save Image node to save the last image taken by any Robotiq Wrist Camera node in the program.
[NEW] Added Work Plane creation to define a new work plane without going through a full Camera Calibration.
[NEW] Added automatic generation of waypoints to go to the object found in a parametric Cam Locate.
[NEW] Added the option to automatically move to the Snapshot Position before a Cam Locate.
[NEW] Added the option to remove the Snapshot Position check when entering a Cam Locate.
[NEW] Added the option to ignore object rotation in a Cam Locate.
[NEW] Added the option to detect multiple objects but process one by Cam Locate node execution.

[CHANGE] Redesigned how to add Snapshot Positions.

[IMPROVEMENT] Improved Cam Locate performance.
[IMPROVEMENT] Made slider controls more user-friendly.

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UCC-1.8.2 (2019/09/03)
- Bug fix: major general performance improvement.

UCC-1.8.1 (2019/07/11)
- Bug fix: fixed issue where a variable would be undefined in a nested Cam Locate.

UCC-1.8.0 (2019/05/28)
- New feature: added gripper clearance check.
- New feature: show objects that were rejected due to color or clearance validation if the maximum of detected objects is not reached.
- New feature: added a way to define behavior when no object is found in a Cam Locate node.
- New feature: added option to ignore snapshot position when configuring and testing an existing model.
- Bug fix: fixed the threshold line to indicate the right value when showing edges and color scores.

UCC-1.7.1 (2019/03/01)
- Bug fix: fixed an issue where the start camera button would appear when it should not.

UCC-1.7.0 (2019/02/28)
- New feature: improved framerate and image acquisition speed.
- New feature: added button to align the camera to make it perpendicular to the nearest robot axis (before calibration).
- New feature: added button to move the camera over its central aiming point and align it with the calibration workplane (after calibration).
- New feature: added many controls for camera settings including exposure, LED intensity and white balance.
- New feature: added expert mode to access more camera settings than with the basic mode.
- New feature: added touch control on sliders for faster adjustments.
- New feature: added a button to move to the snapshot position directly from the program node.
- Bug fix: improved responsivity of USB communication with the camera.
- Bug fix: simplified installation of the vision server.
- Bug fix: fixed program undo/redo behavior.
- Bug fix: improved program loading time.
- Bug fix: improved model stability.
- Bug fix: fixed access to UR's Dashboard Server.

UCC-1.6.6 (2018/11/19)
- Bug fix: fixed communication issue with the vision server.
- Bug fix: fixed issue where user could be stuck in the Teach Object wizard.
- Bug fix: improved program state management in installation tab.
- Bug fix: fixed issue with Cam Locate when ignoring snapshot position.
- Bug fix: fixed scaling issue with parametric models.
- Bug fix: fixed issue where focus settings could be lost when teaching a model.
- Bug fix: fixed user interface overlay issue on e-Series.

UCC-1.6.5 (2018/10/15)
- Bug fix: improved compatibility with Force Copilot.
- Bug fix: improved vision server installation.
- Bug fix: fixed screen freeze at calibration validation step.
- Bug fix: improved performance when using multiple Cam Locate nodes.
- Bug fix: fixed color validation manipulations leading to incoherent states.
- Bug fix: allowed to delete calibrations with invalid feature point.
- Bug fix: improved user interface on e-Series.

UCC-1.6.4 (2018/10/01)
- Bug fix: fixed black screen issue when gripper was connected to e-series robot.

UCC-1.6.3 (2018/09/27)
- Bug fix: URcap installation/uninstallation without first uninstalling vision server would prevent e-series robots from booting.

UCC-1.6.2 (2018/09/19)
- Bug fix: Script function snapshot_position_offset works.

UCC-1.6.1 (2018/09/13)
- Bug fix: improved multiple languages support.
- Bug fix: fixed issue where color detection score could be negative.

UCC-1.6.0 (2018/08/29)
- New feature: added G5 compatibility.
- New feature: added multiple object detection.
- New feature: added editable color validation.
- New feature: added translation in multiple languages.
- Bug fix: improved Cam locate performance & robustness.
- Bug fix: improved user interface.
- Bug fix: improved color validation.

UCC-1.4.1 (2018/07/18)
- Bug fix: fixed communication issue with the UR dashboard.

UCC-1.4.0 (2018/07/11)
- Changed tag to 1.4.0. 

UCC-1.3.3 (2018/07/05)
- Bug fix: compatible with PolyScope 3.6. Not compatible with PolyScope 3.5 and previous versions.

UCC-1.3.2 (2018/05/21)
- Bug fix: fixed issue where reference position was overwritten at each model modification.
- Bug fix: improved firmware upgrader.

UCC-1.3.0-r2 (2018/05/14)
- Bug fix: fixed calibration convergence errors.

UCC-1.3.0-r1 (2018/05/07)
- New feature: major user interface improvement.
- New feature: added automatic object detection.
- New feature: added machine view.
- New feature: add editable and selectable features.
- New feature: added manual controls for focus and LED.
- New feature: added color validation.
- Bug fix: improved performance and memory management.

UCC-1.2.3 (2017/11/29)
- Bug fix: compatible with PolyScope 3.5.
- Bug fix: be able to uninstall vision server with >= UCS-1.2.0 installed.

UCC-1.2.1 (2017/07/25):
- Bug fix: improved stability of Camera firmware, vision server and interface.

UCC-1.2.0 (2017/06/16):
- New feature: added parametric method to teach simple shapes (circle, ring, rectangle and square) with their dimensions. 
- New feature: added calibration steps for improved accuracy.
- New feature: added validation step for the calibration process.
- New feature: faster cycle time option in constant ambient lighting conditions.
- New feature: added area shapes for automatic object teaching.
- Bug fix: improved error messages.

UCC-1.1.2 (2017/01/27):
- Bug fix: robust camera firmware recovery.
- Bug fix: supports program Auto Start which uses a Camera Locate node.
- Bug fix: displays Point Feature name in case a used Point Feature has been deleted.
- Bug fix: manages exponential form of poses in urscript.

UCC-1.1.1 (2016/12/12):
- New feature: new object teaching method which eliminates background recording step.
- New feature: dashboard for controlling installation and monitoring system status. 
- Bug fix: allows to modify the detection threshold after model creation.
- Bug fix: reduced cycle time due to Camera Locate node. 
- Bug fix: enhanced lighting uniformity.
- Bug fix: enhanced calibration in precision and flexibility.
- Bug fix: during the calibration and the scanning step, the robot avoids collinding itself. 

UCC-1.0.2 (2016/09/16):
- Bug fix: modifications to the startup script in order to capture early installation problems.

UCC-1.0.1 (2016/08/31):
- Bug fix: modification to the installation script to ensure proper archive extraction on the usb flash drive.

UCC-1.0.0 (2016/08/26):
- Initial release.
