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2.5.0

· 5 min read

Changes in This Release​

  • Command-line interface updates
    • User workspace is not automatically built every time MoveIt Studio is launched.
      • Allow switching between configuration packages without prompting to delete host-mounted configuration folder.
      • Improvements to Docker images by creating non-root users at container startup time.
      • Additional checks for user environment configuration at install and run time.
  • New Behaviors for AprilTag pose detection, including Detect Apriltags and Get Detection Pose.
  • New Transform Pose Behavior for modifying an existing pose object.
  • MoveIt Task Constructor Behavior updates
    • Split Setup MTC Pick Cuboid into separate Behaviors for approach, grasp generation, and retract. For more information, refer to the Migration Guide.
      • Behavior category name changed from "MTC" to "Task Planning".
      • New Behaviors to enable concurrent planning and execution, including Get Current Planning Scene, Setup MTC Fixed Joint State, Push To Solution Queue, and Wait and Pop Solution Queue
  • Run multiple MoveIt motion planners in parallel with Setup MTC Move To Joint State Behavior.
  • New moveit_studio_vision_msgs package which contains ROS 2 interfaces for AprilTag detections and graspable objects consisting of cuboids and planar surfaces.
  • Added ability to display cuboid objects from a MoveIt planning scene in the MoveIt Studio web app.
  • Removed built-in support for Kinova robots from the core MoveIt Studio package. For more information, see the Migration Guide.
  • Updates to Universal Robots example workspace
    • New machine tending simulation scene for default mock hardware configuration package.
      • Updated Gazebo configuration package to demonstrate AprilTag based pick and place applications.
      • Parallel sampling-based and joint interpolation planning is on by default when moving between Waypoints.
  • UI updates
    • Improved interactive marker performance.
      • Easier to select connection lines in Objective Builder.
      • Display planner names in trajectory previews.
      • Visible error message when WebGL for graphics rendering is unavailable in a web browser.
      • Automatically determine end effector coordinate frame name for endpoint and joint jogging.
      • Support arbitrary metadata categories for custom Behaviors in the sidebar.
      • Bug fixes.

2.4.1

· One min read
  • Performance improvements for interactive marker based endpoint control.
  • Fixed some issues with the ./moveit_studio command surrounding user licensing.

2.4.0

· 3 min read

Changes in This Release​

  • Robot configuration packages now support multi-level inheritance.
  • Custom meshes now render in the web app.
  • Updates to Universal Robots example workspace
    • Update configuration packages to use multi-level inheritance.
      • MoveIt configuration now includes the STOMP optimizing motion planner and Anytime Path Shortening (APS) adapter.
      • Switch between different UR arm models with one configuration parameter.
  • Run multiple MoveIt motion planners in parallel with Move to Joint State and Move to Pose Behaviors.
  • Find Singular Cuboids Behavior now allows setting the parent frame instead of using the camera frame by default.
  • pick_ik inverse kinematics plugin version updated for bug fixes and new features.
  • Enhancements and functional fixes to interactive marker based endpoint control.
  • Update Behavior Trees concept documentation with more resources.
  • UI updates: Added description tooltips to favorites Objectives, scroll wheel always zooms in Behavior Tree editor, consistent use of terminology in menu items.

2.3.0

· 3 min read

Changes in This Release​

  • MoveIt Studio now runs without root user.
  • Documented installing and running MoveIt Studio in virtual machines on Windows and macOS.
  • New Looping Pick and Place demonstration Objective.
  • New Behaviors for fetching images and camera information.
  • Joint slider controls will now show a preview of the robot.
  • Support for adding favorite Objectives directly in XML.
  • Major documentation reorganization and updates.
  • Automated force-torque sensor zeroing behaviors for UR + Robotiq deployments.
  • Improvements in the UI for P-stop manager workflows.
  • Additional services for RViz and the MoveIt Setup Assistant in the launch tool.
  • New Objectives and features for the included UR5e mock hardware and Gazebo simulations.
  • Error codes will pass from MoveIt to the user interface.
  • Additional information in error messages when Objectives are missing required hardware.
  • Bump UR and Robotiq Gripper dependencies for URDF fixes and improvements.
  • Additional warnings in the UI for unsupported URDF options.
  • Display more useful errors with planning with empty MTC tasks.
  • Joint endpoint units and language updates to support prismatic joints.
  • Adjustments to the default ports used by the MoveIt Studio application.
  • Popup changes for creating new Objectives and Behaviors.
  • Browser warnings for unstable Formant connections.
  • Improvements to the install, configuration, and launch scripts for dependency checks.
  • Fixed application healthchecks on launch when loading the UI.
  • Fixed issue when loading nodes model files in user workspaces.
  • Fixed building issues in user workspaces both with the launch option and on application start.
  • Fixed and modified keyboard shortcuts in the Objective Editor.
  • Fixed Objective YAML circular configuration updating and persisting.
  • Fixed timing and reset problems with endpoint control using the interactive marker.
  • Fixed editing issues with subtree layouts, tree creation, and inclusion in the Objective Editor.
  • Fixed admittance control tuning panel reload on save problems.

2.2.3

· One min read
  • Change default MoveIt Studio application port usage.
  • Update the Docker user group checks during the install process.
  • Update user documentation with additional instructions for virtual machines.

2.2.2

· One min read
  • Fixing typos in the installation and launching documentation.
  • Rename waypoints and update Objectives in the default PickNik UR configurations.

2.2.1

· One min read
  • Include frame ID checks when showing grasp candidates in the UI.
  • Adds a Call Trigger Service behavior to the default tree_nodes_model.xml.
  • Fixed saving subtrees when they are created from new Objectives.
  • Fixed breaking issues when adding subtrees to themselves.
  • Fixed duplicate pastes when copying and pasting Behaviors when editing ports.

2.2.0

· 2 min read

Changes in This Release​

  • Initial support for inclusion of subtrees in Objectives, and for creating and modifying them through the Objective Editor.
  • New API and button to download all logs as a zip file from the logging tab.
  • Added undo/redo functions and buttons to the Objective Editor.
  • Added tooltips and safety checks to the joint jogging control interface.
  • Interactive marker for Cartesian endpoint control.
  • New tutorial for interacting with MoveIt Studio's Do Objective Action Server.
  • Ability to reset the camera view for kiosk mode deployments.
  • New base Behavior class for getting the latest message published on a ROS topic.
  • Additional functionality for headless deployments and configuration have been added to the MoveIt Studio launch utility.
  • Moved the standard_tree_nodes_model.xml and included tree_nodes_model.xml to standard, included locations.
  • Timeouts and additional checks for Formant enabled deployments.
  • Adjusted MoveIt Servo parameters for UR Robots to the most up-to-date configuration.
  • Fixed verbosity for top level Behaviors when running Objectives.
  • Fixed inability to copy text from toast warning popups.
  • Fixed issues with creating and recreating publishers and subscribers in abstract Behavior classes.
  • Fixed issues with the "Clear Snapshot" Objective.
  • Fixed error messaging for some Objectives with specific hardware requirements.
  • Fixed port validation in the Create Behavior API.
  • Fixed issues with marker rendering and overlapping in the nav bar.
  • Fixed issues for camera controls in the preview window.
  • Fixed re-rendering robot previews when approving trajectories.

2.1.1

· One min read
  • Adjust subtree editing warnings in the Objective Editor.
  • Minor adjustments to the install process to install tagged versions of the MoveIt Studio user workspace.

2.1.0

· 2 min read

Changes in This Release​

  • Added copying and pasting of Behaviors in the Objective Editor.
  • Added running of Objectives by ID in the Objective Server.
  • Added recursive editing of yaml parameters in the Objective Editor.
  • Added joint sliders to the Joint control panel for joint-by-joint jogging.
  • Added new Behavior and functionality for logging during Objective execution.
  • Added a task_id port to MTC planning behaviors for solution storage and introspection.
  • Added documentation and feedback links to the user interface settings dropdown.
  • Added machine learning Behaviors and tutorials in Adding ML Perception to Objectives.
  • Added the UR5e xacro to prevent planning through pinch geometries in the wrist.
  • Fixed issues related to rendering different Behavior Tree layouts.
  • Fixed a critical bug causing stability issues in ros2_control Humble.
  • Fixed scrolling issues in the waypoints dropdown menu.
  • Fixed issues with missing camera configurations for simulated environments.
  • Fixed issues in launch monitoring logic when launching MoveIt Studio.