3.0.1
· One min read
- UI bug fixes
- Fix STOMP segfault when robot is in collision during planning
Major version increase.
ExtractGraspableObjectPose
- Given a Graspable Object, returns its pose to an output port.
RetrieveJointStateParameter
/ RetrievePoseParameter
- Retrieve joint states and poses that are set from the UI for manual control applications.PublishStaticFrame
- Publishes a static transform to the tf2 buffer.PublishString
- Publishes a string to a specified ROS topic.AveragePoseStamped
- No longer an experimental Behavior. Can be used multiple times in a single Objective, improved orientation averaging, and configurable for finite-time vs. continuously running operation.
GetJointStateFromUser
removed in favor of RetrieveJointStateParameter
.SetupMTCMoveAlongFrameAxis
- Get all input parameters from individual ports instead of a YAML file.LoadFromYaml
, LoadMultipleFromYaml
, and SaveToYaml
base classes for authoring custom Behaviors.
${HOME}/.config/moveit_pro/<config_package_name>/objectives
) folder.SaveJointTrajectoryToYaml
/ SavePoseToYaml
- Refactored to reuse generic implementation.WritePoseToYaml
removed in favor of SavePoseToYaml
.fp::Result
with tl::expected
.
ActionClientBehaviorBase
base class now provides a processFeedback
function to insert user code for handling action feedback.moveit_studio_agent_msgs
package moved to the public moveit_studio_sdk
repository.moveit_studio_ws
repository, including CI support.PlanMTCTask
Behavior.
BreakpointSubscriber
Behaviors.MergePointClouds
- For merging multiple point clouds into a single cloud.
AddPointCloudToVector
- Adds a point cloud to a vector of point clouds.TransformPointCloud
, TransformPointCloudFrame
- For transforming point cloud frames.AddSubframeToObject
, GetGraspAndTwistSubframes
, GetMoveAlongArcSubframes
- For interacting with object affordances in planning tasks.
TransformPoseWithPose
- For applying transforms (as poses) to poses.PublishStaticFrame
- Publishes static transforms to tf2.ReadTextFileAsString
- Reads the contents of a text file as a string.
LoadSubframesFromYaml
- Loads a set of frames from a persisted file.LoadPoseStampedVectorFromYaml
- Loads a set of PoseStamped
objects from a yaml file into a vector.GenerateObjectsInBox
- For testing; can be used to generate random cuboids in a bounding volume.ForEachPoseStamped
- Iterates over a vector of poses.LoadPointCloudFromFile
- New scaling factor added for resizing imported meshes if needed.
GetMasks2DAction
- Option added for filtering masks by object classes.RegisterPointClouds
- Finds the pose of a target point cloud relative to another point cloud using the Iterative Closest Point (ICP) algorithm.
GetGraspableObjectsFromMasks3D
- Outputs a GraspableObject for each point cloud fragment represented by a 3D mask.LoadPointCloudFromFile
- Now supports loading point clouds in either .pcd
or .stl
formats.SetupMTCAttachObject
and SetupMTCDetachObject
- Can be used to attach or detach a GraspableObject from the planning scene to a robot frame.
SetupMTCUpdateObjectCollisionRule
- Enables adjusting collision rules between GraspableObjects and other entities in the planning scene.PlanCartesianPath
and ValidateTrajectory
- Will always return a complete or partial debug solution for use in trajectory previews.GetPlanUsingTAMP
or CreateBehaviorTreeFromTaskPlan
.PlanCartesianPath
, ValidateTrajectory
and ExecuteFollowJointTrajectory
- Behaviors to compute, validate, and execute Cartesian trajectories.
SaveJointTrajectoryFromYaml
and LoadJointTrajectoryFromYaml
- Saves/Loads joint trajectories from/to the blackboard in yaml format.GetAffordancePoses
- Returns a vector of affordance stamped poses relative to a graspable object's reference frame.GetMasks3DFromMasks2D
- Given a point cloud of a scene and 2D masks from an image of the scene, output a point cloud mask for each image mask.
GetPointCloudFromMask3D
- Returns a point cloud with the points selected by a 3D mask.ForEachMask2D
and ForEachMask3D
- Iterates through a vector of image or point cloud masks.AveragePoseStamped
-- Averages estimated AprilTag poses to mitigate detection noise and stabilize results.CalculatePoseOffset
- Calculates the offset transform from a source pose to a destination pose, relative to the source pose's coordinate frame.WritePoseToYAML
- Writes a pose to a YAML file.TransformPoseFromYaml
- Transforms a pose using another pose contained in a YAML file.Teleoperate
Behavior and Objective into Teleoperate Joint Jog
and Teleoperate Twist
.AddCartesianPoseToSequence
and SetupMTCCartesianSequence
- Enables setting up a sequence of poses and planning through those poses.
CreateJointState
- Create a valid joint state for your robot given joint names and position values.MoveToJointState
- Moves to a specified input joint state provided.SetupMTCFromSolution
- Provides an alternative to SetupMTCCurrentState
to initialize a MoveIt Task Constructor (MTC) task from the final state of a previously computed solution.LoadImageFromFile
- Loads an image from a file as a ROS Image message.
GetSynchronizedCameraTopics
- Retrieves time synchronized RGB image, point cloud, and camera intrinsics data from ROS topics.FindMaskedObjects
- Segments a point cloud given image segmentation masks and returns graspable object representations.CropPointsInBox
- Segments a point cloud given a rectangular region of interest (ROI).GetPlanUsingTAMP
- Requests a plan from a ROS 2 Planning System (PlanSys2) planning server.
CreateBehaviorTreeFromTaskPlan
- Builds an Objective given a task plan and a mapping between task actions and Subtrees.IsForceWithinThreshold
Behavior refactored to be reusable in loops by reinitializing its running counters.MoveToJointState
Behavior to MoveToWaypoint
, as it accepts a Waypoint name as input.
BiasedCoinFlip
Behavior to simulate probability of success for testing purposes.GetMasks2DAction
Behavior that sends images to a ROS action server using this GetMasks2D interface for segmentation tasks.FindSingularCuboids
Behavior.