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10.1.1

· 5 min read

Enhancements​

Behavior and Library Improvements​

  • DetectAprilTags provides an optional detection_count output for Objectives that need to handle an empty detection result.

Reference Application Changes​

  • moveit_pro_sam3 now downloads the SAM3 (Segment Anything Model 3) models from their upstream release at build time instead of shipping them in the repository. The SAM3 Objectives and Subtrees in lab_sim, hangar_sim, kitchen_sim, dual_arm_sim, picknik_ur_base_config, and franka_base_config load their models from this package. To build without network access, put the four model files in a directory and pass -DSAM3_MODEL_URL=file:///<dir>.
  • The lab_sim Pick All Bottles with AprilTags Objective now finishes after the last bottle instead of reporting an empty-detection error. Detection and motion failures still fail the Objective.

Other Improvements​

  • The moveit_pro command now asks you to accept Meta's SAM License before building the example workspace's moveit_pro_sam3 package, which downloads the SAM3 model at build time. Declining excludes the package from the build, so the model is not downloaded and the SAM3 Objectives cannot load it. Change the answer later with moveit_pro configure --sam3-license accept or moveit_pro configure --sam3-license decline.

Bug Fixes​

  • Fixed interactive marker dragging moving in the wrong direction when the 3D view's fixed frame is not the robot's root link, such as map on a mobile robot.
  • Fixed excessive transform network traffic when viewing a remote Runtime, especially when transform features are not in use.
  • Fixed point cloud and particle filter visibility settings being forgotten when topics temporarily disappear or reconnect.
  • Fixed pane swapping in grid layouts, where a divider offered a single control that exchanged whole rows or columns. Every pair of panes that share an edge now has its own swap control, so a pane can be swapped with the one directly beside or below it.
  • Fixed failure-path highlighting so expanding a collapsed Subtree in Edit mode reveals and highlights the failed Behavior from the preceding run.
  • Fixed joint states being sent to a remote Desktop App at the robot's control rate instead of the display rate, which crowded out other data on slow connections.
  • Fixed misleading downstream conversion errors when PushBackVector or InsertInVector receives an uninitialized value. The failure now identifies the missing input and points to Subtree port mapping.
  • Fixed the get_capabilities tool of the MCP (Model Context Protocol) server telling agents to run build_workspace when the bound robot configuration package does not exist yet. It now points to create_config.
  • Fixed offline license activation selecting the wrong network interface on hosts where a network interface's backing device cannot be resolved, or where the host /sys is mounted under a path containing a component such as usb1. Core
  • Fixed the Training Config dialog stalling while discovering cameras. The dialog now opens immediately, adds discovered cameras while preserving your edits, and provides more space for configuration.
  • Fixed the Alert Sidebar badge counting an unread alert every time the Runtime started.
  • Fixed episode deletion in the Training panel blocking other training controls. Deletion is also faster, can be canceled, shows a spinner while it runs, and preserves recording splits to reduce memory use during later conversion.
  • Fixed Runtime, moveit_pro command, and Desktop App licensing diagnostics so they preserve the specific failure cause and no longer give irrelevant key-change advice. Core
  • Fixed RetrieveWaypoint returning every joint stored in a waypoint instead of only the joints of joint_group_name, which sent joints outside the requested planning group to the planner and controller. An Objective that used the output as a whole-robot state now receives only that group's joints.
  • Fixed the Joint Monitor showing no value for joints with no position limits, such as continuous wheel joints and mobile-base yaw joints. They now show a ±180° bar with the live position wrapped into it, and joints keep the order the robot model reports instead of being sorted by whether they have limits.
  • Fixed license deactivation failing on a machine whose TPM (Trusted Platform Module) or network interface is no longer readable, which left the seat held until support released it. Core
  • Fixed a failure while loading license metadata leaving a machine activated with no hardware tier recorded, which could consume a second activation on the next start. Core
  • Fixed a machine with an unwritable data directory holding its floating license seat until the lease expired instead of releasing it at shutdown. Core
  • Fixed the Training panel relabeling previously recorded episodes when a new episode was saved. Each episode now shows the task it was recorded under, in both the episode list and the playback scrubber.
  • Fixed Objectives failing to load when they call a Subtree without setting a port whose declared default is an empty string.
  • Fixed slow Octomap updates for large point clouds in planning scenes with many meshes.
  • Fixed unavailable Teleoperation appearing as an enabled mode, and added a way to return to Objectives if the Teleoperation workspace cannot load.
  • Fixed the robot disappearing from the 3D view when changing the fixed frame back to world.
  • Fixed Nav2 path arrowheads in the 3D view not showing each pose's orientation, including the final goal heading.
  • Fixed keep-out zone size edits in the Planning Scene Editor not updating the 3D view until leaving the editor.