2.6.0
· 2 min read
Changes in This Release
- Added automated monitoring and restart capabilities to MoveIt Studio backend services.
- Consolidates the Agent and Bridge processes into a single deployable service.
- For users building in custom Docker overlays, this will require changes to your compose file.
- Consolidates the Agent and Bridge processes into a single deployable service.
- Additional improvements for the parallel planning pipeline.
- Added new MoveIt Studio SDK for external consumption.
- Enables users to interact with MoveIt Studio Objectives using a simple Python interface.
- Initial support for setting constraints on generated MTC motion plans
- New Behaviors include
InitializeMotionConstraints
andAppendOrientationConstraint
.- Includes a user interface for building orientation constraints.
- New Behaviors include
- Updated developer tooling for building on MoveIt Studio binary Docker images. For more information refer to the Docker Developer Guide.
- Documentation and support for launching multiple cameras on different machines added in the Hardware Setup Guide.
- Initial support for grasping with an EPick Vacuum gripper.
- Added a new Behavior
SetupMTCGenerateVacuumGrasps
, for generating vacuum grasp poses with MTC.- Driver development is ongoing in the ros2_epick_gripper repository.
- Added a new Behavior
- Updates to Universal Robots example workspace
- Added a pinch link to prevent UR arms from planning or moving through dangerous pinch poses.
- New sample contstrained planning Objective
Constrained Pick and Place
added in thepicknik_ur_mock_hw_config
configuration package.
- New sample contstrained planning Objective
- Added a pinch link to prevent UR arms from planning or moving through dangerous pinch poses.
- UI updates
- New unified interface for manual control.
- Additional logging when starting, stopping, and completing Objectives.
- Improved functionality when expanding/collapsing Behavior Trees, including state saving in the Objective Editor.
- General improvements and fixes to the admittance controller tuning utility.
- Added search capabilities to the Behaviors sidebar in the Objective Editor.
- Added shortcuts for opening the Objective Editor from the execution panel.
- New unified interface for manual control.