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7.6.0

· 6 min read

Major Features​

Multi-Tip Pose Inverse Kinematics​

Multi-tip Pose IK

MoveIt Pro now supports computing Inverse Kinematics for multiple end-effectors simultaneously using the ComputeInverseKinematics behavior. This feature is useful for robots with multiple arms or end-effectors that need to reach multiple goals at the same time.

Assign Categories in the UI​

Assign Categories in the UI

You can now assign categories to objectives, as well as create new categories, from within the UI.

Factory Sim​

factory_sim

Our example workspace fanuc_sim is now factory_sim and contains new assets and example objectives for planar and mesh based reachability analysis.

New Pose Jog in the UI​

New Pose Jog in the UI

Creates a new d-pad for pose jog in the sidebar rather than overlaying it on visualization pane

Enhancements​

  • MoveIt Pro now publishes a heartbeat signal to the /objective_server_heartbeat ROS topic with the currently running process runtime, current objective name, and the status of the objective. This topic publishes the moveit_studio_agent_msgs/msg/ObjectiveServerStatus message.
  • MoveIt Pro now ships with core objectives (via a new moveit_pro_objectives package) that can be inherited in any robot config or workspace to speed up development time and increase consistency.
  • You can now send a Behavior Tree as a string to the Objective Server through the API.
  • Added ComputeInverseKinematics behavior to compute IK for multiple end-effectors simultaneously.
  • Added -l and --list options to moveit_pro run verb to list all available configuration packages in the current user workspace.
  • Added --browser (default) and --no-browser options to prevent the application to launch a new browser window on startup.
  • Allow REST API to connect over HTTPS

UI Changes​

  • Added keyboard navigation to port dropdown combo-boxes
  • Improved the keepout zone modal by saving your last used values
  • Improved the "Exit" button to not change widths when running an objective

Behavior Changes​

  • PublishMask2D exposes opacity as an input port to change the translucency of the overlaid masks.
  • InitializeMTCTask has a new port called trajectory_monitoring. If it is set to true, every subtrajectory of that task is going to be collision checked against the most recent planning scene right before it is executed. The default value of the port is False since this additional collision check is only necessary if anything other than the robot state in the planning scene has changed.
  • LoadObjectiveParameters has been deprecated. Please migrate to declaring ports directly on behaviors, or to specializations of the LoadFromYaml template behavior.

Documentation Improvements​

  • Added a new guide about Behaviors available to compute Inverse Kinematics.
  • Expose C++ API (Doxygen) documentation for MoveIt Pro Kinematics libraries and controllers. Find it here.
  • Improved documentation for adding simulated sensors, such as force torque sensors.
  • Added documentation on how to send a Behavior Tree as a string to the Objective Server.
  • Added new tutorial 3. Mobile Manipulation & Cartesian Planning

Other Improvements​

  • Synced pre-commit hooks for xml with objective saving from the UI, removing unnecessary pre-commit diffs in user workspace git trees.
  • Added a progress bar when cloning the example user workspace
  • NVIDIA computers now check for the NVIDIA container toolkit to be installed, and provide instructions on how to install it if it is not found.
  • Improved flow for first run after install
  • Added --browser (default) and --no-browser options to prevent the application to launch a new browser window on startup.
  • Docker images are now tagged with the user workspace name, meaning switching between unchanged workspaces should be faster.
  • The objective server no longer sends INFO-level toasts to the UI when objectives begin and end. If you need this information, reference the verbose log output or the ROS logs.
  • Since plugins need to be rebuilt after upgrading, the user is now asked if they want to delete their install folder.
  • Reduce severity and frequency of Mujcoo model timestep log.
  • Added --browser (default) and --no-browser options to prevent the application to launch a new browser window on startup.
  • Reduce severity and frequency of MuJoCo simulator model timestep log.
  • Check for example workspace version mismatch and switch branches.

Bug Fixes​

  • Fixed an issue where the MetadataFields element is being stripped from an objective's xml file resulting in objectives becoming uncategorized and "subtree only" objectives becoming runnable.
  • Candidate IK solutions when dragging the interactive marker should no longer flicker while dragging.
  • Robot configurations such as hangar_sim that have large URDFs should now properly do first-time setup of the camera stream layout in the UI.
  • The runnable metadata field in an objective xml file is now the source of truth for specifying "subtree only" objectives. If the _subtreeOnly BehaviorTree attribute exists in an objective file and runnable is not set, MoveIt Pro will respect the old BehaviorTree attribute and automatically migrate to runnable on the next update to the objective.
  • Fixed an issue where multiple new lines at the end of a copy paste in the configuration would skip prompts.
  • Fixed an issue where updating an objective name doesn't update the filename of its xml file.
  • Clarity of licensing errors in the UI has been improved.
  • Resolved a race condition where navigating between objectives could cause the inner pane of the objective editor to crash.
  • Objectives created via "Convert to subtree" now immediately show up as an option in the Build sidebar.
  • Fixed a bug where an objective being paused by a BreakpointSubscriber behavior would cause the "Stop Motion" button to disappear.
  • The "subtree only" checkbox when cloning an objective now works as expected.
  • Clicking on the "build" or "run" tabs when they are already active no longer causes the contents of the page to reload.
  • Fixed bug where clicked points on camera streams were getting the wrong Y coordinates.
  • Editing an objective immediately after editing its metadata should no longer cause the metadata to be reverted.
  • Fixed a bug in PlanToJointGoal where if the given target robot state message was missing values for some joints in the group, the planner would assume those values were zero. Now the planner will use the current robot state for those missing joints.
  • It is no longer possible to navigate to an objective name in the Run tab that doesn't have a corresponding objective in your configuration.
  • Fixed issue with the UI not receiving the first Segmentation Mask when running behavior Segment Image From Text Prompt.
  • Fix issue with Run tab panels having inconsistent sizing
  • Fixed bug where prompt to click point in "Navigate to Clicked Point" didn't go away when objective exited.
  • Fixed bug causing the keepout zone marker not to drag.

Migration Guide​

  • Some ProRRT-related functions (C++ API) have been moved into separate packages. If those functions were used in custom Behaviors, they'll need to be updated:
    • moveit_studio::behaviors::createTrajectoryFromWaypoints -> cartesian_planning::createTrajectoryFromWaypoints
    • moveit_studio::behaviors::collisionValidationFunction -> pro_rrt::collisionValidationFunction
    • moveit_studio::behaviors::planTrajectoryToJointGoal -> pro_rrt::planTrajectoryToJointGoal