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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.