Below are common log prints:
The Mech-Center part
1. Start center options: [‘hide’]
Explanation: Represents starting Mech-Center and hiding by default.
2. Unregister service: {‘name’: ‘XXX’, ‘function’: ‘unregisterService’}
Explanation: Unregisters the XXX service from the HUB.
3. Register service: {‘type’: ‘XXX’, ‘name’: ‘XXX’, ‘port’: 63147, ‘other_info’: None, ‘function’: ‘registerService’, ‘ip’: ‘127.0.0.1’}
Explanation: Registers a service with type XXX and name XXX to the HUB, with IP address 127.0.0.1 and port 63147.
4. Successfully called showMainWindow by Mech-Vision.
Explanation: The Mech-Vision interface has been displayed successfully.
5. Forward to “Mech-Vision” with message: {‘function’: ‘getAppStatus’} and Successfully called getAppStatus by Mech-Vision.
Explanation: Mech-Center has successfully obtained the status of the Mech-Vision software.
6. Forward to “Mech-Viz” with message: {‘function’: ‘exit’}
Explanation: The Mech-Viz software has been exited.
7、Register service: {‘function’: ‘registerService’, ‘name’: ‘Multiple_Partitions’, ‘other_info’: {‘camera_ip’: ‘’, ‘depthInBase’: [-0.3574014051239349, -1.1748301843202296, 1.6350318456753572, -0.007368484537166228, 0.9998509242696076, -0.01560956777439749, -0.00041960306654213926], ‘is_eye_in_hand’: False, ‘type’: ‘MechEye’}, ‘port’: 63212, ‘type’: ‘vision3d’, ‘ip’: ‘127.0.0.1’}
Explanation: Register a project with the name “Multiple_Partitions” along with some parameters.
The Mech-Vision part
1. Forward to “vision_watcher_interface” with message: {‘function’: ‘posesFound’, xxxxxxx}
Explanation: The vision monitor “vision_watcher_interface” forwards returned data using the method “posesFound.”
Parameters corresponding to the function:
- posesFound: Data obtained after the completion of the Mech-Vision project.
- posesPlanned: Results after “Vision Move” planning in Mech-Viz.
- multiPickCombination: Planning for multi-pick in “Vision Move” by Mech-Viz.
The Mech-Viz part
1. moveXs: {‘function’: ‘moveXs’, xxx}
Explanation: After completing the path planning, Mech-Viz sends the planned waypoints to Mech-Center as specific data.
2. wait_viz_result: Mech-Viz, {‘simulate’: False, ‘project_dir’: ‘xxxx’, ‘wait_for’: ‘Finished’, ‘z_offset_compatibility_mode’: True}
Explanation: Launch Mech-Viz project with the project path set to ‘xxxx’.
Standard Interface Section
1. Interface received command: 201.
Explanation: The standard interface received command 201.
2. setJ: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], setL: None
Explanation: Sets the joint angles and tool pose (or flange pose if no tool is present) for the robot in Mech-Viz.
3. Interface sends status code: 2022
Explanation: The standard interface sends the status code 2022 in response.
