Skip to main content

6.4.0

· 2 min read

New Features​

  • Added the export_logs CLI verb, creating a simple and efficient way to add log files to support requests.

UI Changes​

  • Improved general UI performance when point clouds are present in the visualization pane.
  • The UI now remembers which panes you were looking at and displays them by default on next launch.
  • Waypoint and Objective Sidebars have been moved to the left side of the screen along with their toggle buttons. This greatly decreases cursor travel.
  • Joint Jog sliders are now disabled when collision checking is turned off.
  • The Joint Jog Slider Panel is now attached to the Visualization View.
  • Pose Jog Teleoperation buttons only exist within the primary view.

Documentation Improvements​

  • Update MuJoCo config migration docs on retrieving the generated robot URDF
  • Added troubleshooting tips for docker-compose.yaml issues

Bug Fixes​

  • Fixed numerous issues causing strange behavior and extraneous “File Conflict” warnings while editing behavior trees in the UI
  • Fixed an issue where the marker generated by AdjustPoseWithIMarker would not be removed from the UI upon cancellation of a running behavior tree
  • Fixed packages appearing in a random order when using commands like moveit_pro configure.
  • moveit_pro build now uses the user_ws docker-compose.yaml instead of always defaulting to the main docker-compose.yaml
  • Other minor fixes and improvements
  • Add dev service to installed docker-compose file so moveit_pro shell works when there is no docker-compose in the user workspace
  • When first node in a subtree is a comment node, and that subtree is expanded, the comment will no longer show in the UI blocking the visualization of the behaviors
  • The UI no longer flashes an incomplete rendering when initially switching to the Interactive Marker.
  • Moved Pose Jog buttons to a more stable position that are unaffected by other UI elements.
  • Updating objective name no longer throws error if subtree only checkbox is not toggled.
  • Added “Loading Objective” Prompt to top bar showing when a new objective is loading as opposed to showing the value left behind from the previously run objective.
  • “Approve Trajectory” message in Interactive Marker mode is correctly centered and positioned on screen.

Migration Guide​

No steps are necessary to migrate from 6.3 to 6.4.