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2.1.0

· 2 min read

Changes in This Release​

  • 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.
  • Added a task_id port to MTC planning behaviors for solution storage and introspection.
  • Added documentation and feedback links to the user interface settings dropdown.
  • Added machine learning Behaviors and tutorials in Adding ML 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.

Migration Guide​

Add task_id to MTC Task Initialization​

In order to support storing and retrieving of MTC planning solutions, we have added a new required task_id to the InitializeMTCTask Behavior. Any Objective with the Behavior should add the additional port like,

<Action ID="InitializeMTCTask" task_id="interpolate_to_named_state" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{interpolate_to_waypoint_task}"/>