Release Notes

2.6.0

• Added automated monitoring and restart capabilities to MoveIt Studio backend services.

  • Consolidates the Agent and Bridge processes into a single deployable service. See the Advanced Launch Configurations guide.

  • For users building in custom Docker overlays, this will require changes to your compose file. For changes refer to Migration to 2.6.0.

• Additional improvements for the parallel planning pipeline.

• Added new MoveIt Studio SDK for external consumption.

  • Enables users to interact with MoveIt Studio Objectives using a simple Python interface.

  • For more information refer to the Python API User Guide.

• Initial support for setting constraints on generated MTC motion plans

  • New Behaviors include InitializeMotionConstraints and AppendOrientationConstraint.

  • Includes a user interface for building orientation constraints.

• Updated developer tooling for building on MoveIt Studio binary Docker images. For more information refer to the Docker Developer Guide.

• Documentation and support for launching multiple cameras on different machines added in the Hardware Setup Guide.

• Initial support for grasping with an EPick Vacuum gripper.

  • Added a new Behavior SetupMTCGenerateVacuumGrasps, for generating vacuum grasp poses with MTC.

  • Driver development is ongoing in the ros2_epick_gripper repository.

• Updates to Universal Robots example workspace

  • Added a pinch link to prevent UR arms from planning or moving through dangerous pinch poses.

  • New sample contstrained planning Objective Constrained Pick and Place added in the picknik_ur_mock_hw_config configuration package.

• UI updates

  • New unified interface for manual control.

  • Additional logging when starting, stopping, and completing Objectives.

  • Improved functionality when expanding/collapsing Behavior Trees, including state saving in the Objective Editor.

  • General improvements and fixes to the admittance controller tuning utility.

  • Added search capabilities to the Behaviors sidebar in the Objective Editor.

  • Added shortcuts for opening the Objective Editor from the execution panel.

2.5.2

• Fix issues with rendering custom end effectors when previewing grasp poses.

2.5.1

• Fix issues mounting host directories for some shell environments.

• Minor documentation content updates and formatting fixes.

2.5.0

• Command-line interface updates

  • User workspace is not automatically built every time MoveIt Studio is launched.

  • Allow switching between configuration packages without prompting to delete host-mounted configuration folder.

  • Improvements to Docker images by creating non-root users at container startup time.

  • Additional checks for user environment configuration at install and run time.

  • For more information, refer to the Migration Guide.

• New Behaviors for AprilTag pose detection, including Detect Apriltags and Get Detection Pose.

• New Transform Pose Behavior for modifying an existing pose object.

• MoveIt Task Constructor Behavior updates

  • Split Setup MTC Pick Cuboid into separate Behaviors for approach, grasp generation, and retract. For more information, refer to the Migration Guide.

  • Behavior category name changed from “MTC” to “Task Planning”.

  • New Behaviors to enable concurrent planning and execution, including Get Current Planning Scene, Setup MTC Fixed Joint State, Push To Solution Queue, and Wait and Pop Solution Queue

• Run multiple MoveIt motion planners in parallel with Setup MTC Move To Joint State Behavior.

• New moveit_studio_vision_msgs package which contains ROS 2 interfaces for AprilTag detections and graspable objects consisting of cuboids and planar surfaces.

• Added ability to display cuboid objects from a MoveIt planning scene in the MoveIt Studio web app.

• Removed built-in support for Kinova robots from the core MoveIt Studio package. For more information, see the Migration Guide.

• Updates to Universal Robots example workspace

  • New machine tending simulation scene for default mock hardware configuration package.

  • Updated Gazebo configuration package to demonstrate AprilTag based pick and place applications.

  • Parallel sampling-based and joint interpolation planning is on by default when moving between Waypoints.

• UI updates

  • Improved interactive marker performance.

  • Easier to select connection lines in Objective Builder.

  • Display planner names in trajectory previews.

  • Visible error message when WebGL for graphics rendering is unavailable in a web browser.

  • Automatically determine end effector coordinate frame name for endpoint and joint jogging.

  • Support arbitrary metadata categories for custom Behaviors in the sidebar.

  • Bug fixes.

2.4.1

• Performance improvements for interactive marker based endpoint control.

• Fixed some issues with the ./moveit_studio command surrounding user licensing.

2.4.0

• Robot configuration packages now support multi-level inheritance. For more information refer to the Migration Guide.

• Custom meshes now render in the web app. For more information refer to the Migration Guide.

• Updates to Universal Robots example workspace

  • Update configuration packages to use multi-level inheritance.

  • MoveIt configuration now includes the STOMP optimizing motion planner and Anytime Path Shortening (APS) adapter.

  • Switch between different UR arm models with one configuration parameter.

• Run multiple MoveIt motion planners in parallel with Move to Joint State and Move to Pose Behaviors.

• Find Singular Cuboids Behavior now allows setting the parent frame instead of using the camera frame by default.

• pick_ik inverse kinematics plugin version updated for bug fixes and new features.

• Enhancements and functional fixes to interactive marker based endpoint control.

• Update Behavior Trees concept documentation with more resources.

• UI updates: Added description tooltips to favorites Objectives, scroll wheel always zooms in Behavior Tree editor, consistent use of terminology in menu items.

2.3.0

• MoveIt Studio now runs without root user. For more information refer to the Migration Guide.

• Documented installing and running MoveIt Studio in virtual machines on Windows and macOS.

• New Looping Pick and Place demonstration Objective.

• New Behaviors for fetching images and camera information.

• Joint slider controls will now show a preview of the robot.

• Support for adding favorite Objectives directly in XML.

• Major documentation reorganization and updates.

• Automated force-torque sensor zeroing behaviors for UR + Robotiq deployments.

• Improvements in the UI for P-stop manager workflows.

• Additional services for RViz and the MoveIt Setup Assistant in the launch tool.

• New Objectives and features for the included UR5e mock hardware and Gazebo simulations.

• Error codes will pass from MoveIt to the user interface.

• Additional information in error messages when Objectives are missing required hardware.

• Bump UR and Robotiq Gripper dependencies for URDF fixes and improvements.

• Additional warnings in the UI for unsupported URDF options.

• Display more useful errors with planning with empty MTC tasks.

• Joint endpoint units and language updates to support prismatic joints.

• Adjustments to the default ports used by the MoveIt Studio application.

• Popup changes for creating new Objectives and Behaviors.

• Browser warnings for unstable Formant connections.

• Improvements to the install, configuration, and launch scripts for dependency checks.

• Fixed application healthchecks on launch when loading the UI.

• Fixed issue when loading nodes model files in user workspaces.

• Fixed building issues in user workspaces both with the launch option and on application start.

• Fixed and modified keyboard shortcuts in the Objective Editor.

• Fixed Objective YAML circular configuration updating and persisting.

• Fixed timing and reset problems with endpoint control using the interactive marker.

• Fixed editing issues with subtree layouts, tree creation, and inclusion in the Objective Editor.

• Fixed admittance control tuning panel reload on save problems.

2.2.3

• Change default MoveIt Studio application port usage.

• Update the Docker user group checks during the install process.

• Update user documentation with additional instructions for virtual machines.

2.2.2

• Fixing typos in the installation and launching documentation.

• Rename waypoints and update Objectives in the default PickNik UR configurations.

2.2.1

• Include frame ID checks when showing grasp candidates in the UI.

• Adds a Call Trigger Service behavior to the default tree_nodes_model.xml.

• Fixed saving subtrees when they are created from new Objectives.

• Fixed breaking issues when adding subtrees to themselves.

• Fixed duplicate pastes when copying and pasting Behaviors when editing ports.

2.2.0

• Initial support for inclusion of subtrees in Objectives, and for creating and modifying them through the Objective Editor.

• New API and button to download all logs as a zip file from the logging tab.

• Added undo/redo functions and buttons to the Objective Editor.

• Added tooltips and safety checks to the joint jogging control interface.

• Interactive marker for Cartesian endpoint control.

• New tutorial for interacting with MoveIt Studio’s Do Objective Action Server.

• Ability to reset the camera view for kiosk mode deployments.

• New base Behavior class for getting the latest message published on a ROS topic.

• Additional functionality for headless deployments and configuration have been added to the MoveIt Studio launch utility.

• Moved the standard_tree_nodes_model.xml and included tree_nodes_model.xml to standard, included locations. For changes refer to Migration to 2.2.0.

• Timeouts and additional checks for Formant enabled deployments.

• Adjusted MoveIt Servo parameters for UR Robots to the most up-to-date configuration.

• Fixed verbosity for top level Behaviors when running Objectives.

• Fixed inability to copy text from toast warning popups.

• Fixed issues with creating and recreating publishers and subscribers in abstract Behavior classes.

• Fixed issues with the “Clear Snapshot” Objective.

• Fixed error messaging for some Objectives with specific hardware requirements.

• Fixed port validation in the Create Behavior API.

• Fixed issues with marker rendering and overlapping in the nav bar.

• Fixed issues for camera controls in the preview window.

• Fixed re-rendering robot previews when approving trajectories.

2.1.1

• Adjust subtree editing warnings in the Objective Editor.

• Minor adjustments to the install process to install tagged versions of the MoveIt Studio user workspace.

2.1.0

• Added copying and pasting of Behaviors in the Objective Editor.

• Added running of Objectives by ID in the Objective Server.

• Added recursive editing of yaml parameters in the Objective Editor.

• Added joint sliders to the Joint control panel for joint-by-joint jogging.

• Added new Behavior and functionality for logging during Objective execution. For more information see the Making a Hello World Behavior tutorial, and the new LogMessage Behavior.

• Added a task_id port to MTC planning behaviors for solution storage and introspection. For changes refer to Migration to 2.1.0.

• Added documentation and feedback links to the user interface settings dropdown.

• Added machine learning Behaviors and tutorials in Adding Machine Learning Based Perception to Objectives.

• Added the UR5e xacro to prevent planning through pinch geometries in the wrist.

• Fixed issues related to rendering different Behavior Tree layouts.

• Fixed a critical bug causing stability issues in ros2_control Humble.

• Fixed scrolling issues in the waypoints dropdown menu.

• Fixed issues with missing camera configurations for simulated environments.

• Fixed issues in launch monitoring logic when launching MoveIt Studio.

2.0.2

• Fixed built-in pick and place Objectives for BT.CPP 4.1.

2.0.1

• Added documentation for launching MoveIt Studio with Gazebo simulation. For more information see Gazebo Configuration Guide.

• Fixed issues with large joint jumps in MoveIt Servo for the UR5e robots.

• Fixed issues in the Waypoints API and editor.

• Fixed unhandled exceptions in the Objective Server.

2.0.0

Major version increase. For a complete summary of required configuration changes refer to Migration to 2.0.0.

• Upgraded to BehaviorTree.CPP 4.1.1. For required changes refer to Migration to 2.0.0.

• Added a new web-bridge for isolated, local MoveIt Studio deployments.

• Added additional tutorials for custom Behavior generation and workspace testing. For more information see the Getting Started page.

• Added support for tuning admittance control parameters to the user interface. For more information refer to Configure Admittance Control.

• Added additional Behavior interface base classes for simplifying building of customer Behaviors. For more information refer to the List of Core Behaviors documentation.

• Added a public MoveIt Studio user workspace. For more information refer to Configuring a Custom Robot.

• Added support for including multiple tree_nodes_model.xml files in user workspaces.

• Added messaging to the user interface for MoveIt Servo statuses (e.g. approaching singularities or joint limits).

• Added an UpdatePlanningSceneService Behavior for improved collision scene monitoring.

• Added a ForEach decorator node for iterating over values in a Behavior Tree. For more information refer to the List of Core Behaviors documentation.

• Added overlay Docker images and instructions for developing MoveIt Studio Behaviors from containers. For more information see Create Overlay Docker Images.

• Added ability to modify the servo speed from the Cartesian and Joint control panels.

• Added support for logging at different levels from Behaviors to the MoveIt Studio user interface.

• Improvements to the Logging panel in the MoveIt Studio user interface.

• Improvements for database synchronization in the Objective Editor.

• Fixed warnings for missing configuration in base and site config parameters.

• Fixed issues related to DDS configuration generation.

• Fixed issues with animations and lagging in the user interface.

• Fixed segfault issues related to Robotiq Gripper connections.

• Fixed issues with the JointTrajectoryController and success criteria in ros2_control Humble.

• Fixed issues related to Behavior Tree layouts in the Objective Editor.