3.1. Commands

Once installed, all Roboception commands can be found in the ROBOCEPTION commands subsection (Fig. 11).

Fig. 11 Overview of all Roboception commands

3.1.1. Available commands

The following commands are currently available:

• Roboception - Hand-Eye-Calibration
• Roboception - BoxPick
• Roboception - CADMatch
• Roboception - SilhouetteMatch
• Roboception - LoadCarrier

The command library is currently under development. The following table lists the features and the current state of development.

Table 2 Implementation Status of Roboception Features

Feature	Status	Comment
Hand-Eye Calibration	Implemented as a voraus.operator command	Performs a Hand-Eye Calibration. 6-DOF and 4-DOF robots with statically mounted cameras. Robot mounted cameras will be supported soon.
BoxPick	Implemented as a voraus.operator command	Calls the BoxPick command with a single box definition.
CAD-Match	Implemented as a voraus.operator command	Detection of CAD models with the full feature set.
SilhouetteMatch	Implemented as a voraus.operator command	Calls the SilhouetteMatch command.
QR Code Detection	Coming soon [1]	Calls the QR-Code detection and use the detected poses as coordinate systems.
AprilTag Detection	Coming soon [1]	Calls the AprilTag detection and use the detected poses as coordinate systems.
LoadCarrier Detection	Implemented as a voraus.operator command	Calls the LoadCarrier detection and use the detected poses as coordinate systems. Implicitly integrated to other commands.
Filling Level Detection	Coming soon [1]	Calls the LoadCarrier - Filling Level Detection and return the relative or absolute filling level of cells in a load carrier.
ItemPick	Coming soon [1]	Calls the ItemPick detection and use the detected poses as coordinate systems.
Robot mounted cameras	Coming soon [1]	Currently only statically mounted cameras are supported. Support for robot mounted cameras is coming soon [1], and will be scheduled for the first use-case.
Multi camera support	Implemented as a voraus.operator command	Multiple pipelines of an rc_cube can be used in the same program. Implemented as a voraus.operator command
Multiple rc_cubes or standalone cameras	Not supported yet.	With a future release a single voraus.core will be able to control multiple rc_cubes, but currently the API supports only one.

[1] (1,2,3,4,5,6)

Basically all Roboception commands can also be integrated at the Python level (as pure REST API calls) using the voraus.operator and/or the voraus.app //maker.