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 ofPoseStamped
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.
- Point Cloud Manipulation Behaviors:
- Behavior Changes:
LoadPointCloudFromFile
- New scaling factor added for resizing imported meshes if needed.GetMasks2DAction
- Option added for filtering masks by object classes.
- Documentation changes:
- Significant changes have been made to the Developer Overlay Workflow
- New tutorials for retrieving the latest message from a topic.
- New tutorial for publishing a message to a topic.
- Significant changes have been made to the Developer Overlay Workflow
- 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.
- Additional color and skinning updates to the Behavior Tree panels.
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.