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9.1.1

· One min read

Other Enhancements​

Other Improvements​

  • Exposed set_jacobian_inverse_damping in the Python PathIKOptions API, allowing users to tune the Jacobian inverse damping factor for Path IK solving.

Bug Fixes​

  • Fixed project3dToPixel segfaulting or returning incorrect coordinates on Jetson ARM64 due to an OpenCV ABI mismatch between the pre-built ros-humble-image-geometry package and NVIDIA's JetPack OpenCV. All objectives using GetMasks3DFromMasks2D or FindMaskedObjects now work correctly on both amd64 and ARM64.
  • Fixed Enter/Space behavior when selecting favorited behaviors.
  • Automatically populate port values when a subtree is added.
  • Updated the moveit_pro_acm_updater tool to handle the case where the output SRDF already exists by adding an -f/--force flag and merging new ACM entries into an existing SRDF instead of failing or requiring manual cleanup.