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2.11.0

· 2 min read

Changes in This Release

  • New Behaviors:
    • Point Cloud Manipulation Behaviors:
      • MergePointClouds - For merging multiple point clouds into a single cloud.
        • AddPointCloudToVector - Adds a point cloud to a vector of point clouds.
        • TransformPointCloud, TransformPointCloudFrame - For transforming point cloud frames.
      • Grasping and Planning Behaviors:
        • AddSubframeToObject, GetGraspAndTwistSubframes, GetMoveAlongArcSubframes - For interacting with object affordances in planning tasks.
          • TransformPoseWithPose - For applying transforms (as poses) to poses.
          • PublishStaticFrame - Publishes static transforms to tf2.
      • Utility and Testing Behaviors:
        • ReadTextFileAsString - Reads the contents of a text file as a string.
          • LoadSubframesFromYaml - Loads a set of frames from a persisted file.
          • LoadPoseStampedVectorFromYaml - Loads a set of PoseStamped objects from a yaml file into a vector.
          • GenerateObjectsInBox - For testing; can be used to generate random cuboids in a bounding volume.
          • ForEachPoseStamped - Iterates over a vector of poses.
  • Behavior Changes:
    • LoadPointCloudFromFile - New scaling factor added for resizing imported meshes if needed.
      • GetMasks2DAction - Option added for filtering masks by object classes.
  • Documentation changes:
  • UI Updates:
    • Additional color and skinning updates to the Behavior Tree panels.
      • Fixed synchronization issues when deleting Behavior Tree nodes.
      • Prevent users from updating subtrees in certain scenarios.

Migration Guide

Changes to the Developer Overlay Workflow

Significant changes have been made to the standard approach for developing on top of MoveIt Studio containers. These include variable name changes, updated mounts, and slight modifications to the build.