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8.10.8

· 2 min read

Enhancements​

New Behaviors and Libraries​

  • SaveMTCTaskInspection exports all MoveIt Task Constructor (MTC) task introspection data (stage tree, statistics, every solution and failure, interface states, and per-stage failure explanations) to a timestamped JSON file for offline triage of planning failures.

Reference Application Changes​

These changes come from the v8.10 branch of moveit_pro_example_ws.

  • Fixed the Franka end effector in dual_arm_sim and kitchen_sim rendering with a 45-degree twist between the 3D Visualizer and MuJoCo, which put grasps 45 degrees off.
  • Fixed the Sort Blocks Objective in dual_arm_sim re-grasping blocks that had already been removed and failing once the table was cleared; it now completes successfully.

Bug Fixes​

  • Fixed the PoseIK inverse kinematics (IK) solver adding an unnecessary full-revolution wraparound for joints whose range is wider than one full turn, so solutions now stay near the requested angle.
  • Fixed toast error messages displaying literal <code> tags instead of formatting file paths as inline code.
  • Fixed changes to a Behavior's port values (such as the waypoint in RetrieveWaypoint) not being saved when clicking Done in the Behavior Tree editor.
  • Fixed the upgrade flow so existing user workspaces are checked and upgraded before MoveIt Pro builds them.
  • Fixed unavailable action server errors so they include the missing action server name.
  • Fixed first-run setup on NVIDIA hosts without the NVIDIA Container Toolkit so the default user workspace is created before MoveIt Pro stops with a targeted toolkit setup message.
  • Fixed the first-install configuration flow so MoveIt Pro no longer prints a missing license-key error before prompting the user for their license key.
  • Fixed moveit_pro configure repeatedly prompting users to add system-managed environment variables such as STUDIO_DOCKER_TAG to their configuration.
  • Fixed a false crash message when stopping MoveIt Pro with Ctrl-C during normal shutdown.
  • Fixed the AddURDF Behavior silently reporting success when a URDF had a syntax error that dropped geometry; the tool is still added, but MoveIt Pro now warns that geometry was dropped and reports the specific reason.