3.1. Commands

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

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 maker.