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2.3.0

· 3 min read

Changes in This Release​

  • MoveIt Studio now runs without root user.
  • 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.

Migration Guide​

Changes to the MoveIt Studio Runtime User​

In previous versions of MoveIt Studio, the runtime user inside the application's containers defaulted to root. Starting from 2.3.0, the default UID is now 1000 to match the default UID for the primary user in Ubuntu. Generated and mounted content between the MoveIt Studio application and the host will now be owned by UID/GID 1000. For non-1000 UIDs, permissions differences are handled by the install and launch tools. When upgrading, we recommend manually removing old content prior to uninstalling and reinstalling the application. From the install directory run,

cd $HOME/moveit_studio
docker compose down -v
./moveit_studio uninstall

Then proceed with a new installation as documented in the Quick Start guide.