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2.6.0

· 2 min read

Changes in This Release​

  • Added automated monitoring and restart capabilities to MoveIt Studio backend services.
    • Consolidates the Agent and Bridge processes into a single deployable service.
      • For users building in custom Docker overlays, this will require changes to your compose file.
  • 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.
  • 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.
  • 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.

Migration Guide​

Updates to Docker Developer Compose Services​

As mentioned in the 2.6.0 release notes, automated restarts for the newly unified agent_bridge service have been added to the base MoveIt Studio Docker Compose file. For developers using Docker overlays to build custom MoveIt Studio deployments, this may require changes your compose and entrypoints files.

  • Replace the agent and bridge services with a single unified description.
  • Rename the commands to start the agent_bridge, rest_api, and drivers services with agent_bridge.app, rest_api.app, and robot.app.
  • Remove any references to the /common_aliases.sh shell script from any entrypoint or workspace setup scripts.