5.1.1
· One min read
- Documentation fixes.
cameras.yaml
. To better support different hardware configurations, cameras.yaml
is no longer required and you must launch your camera drivers yourself. We’ve included an easy migration script to convert your cameras.yaml
to a cameras.launch.xml
!
ExecuteTrajectoryWithAdmittance
behavior to allow use of the MoveIt Pro Joint Trajectory Admittance Controller
RequestTextFromPrompts
and AdjustPoseWithIMarker
cameras.yaml
from MoveIt Pro’s configuration parser and launcher (see Key Changes section)
~/.config/moveit_pro directories
. This directory is now ephemeral, and all changes persist back to your site configuration’s source directory.moveit_pro setup_workspace
now supports cloning SSH / git@ repositories{STUDIO_HOST_USER_WORKSPACE}
)AdjustPoseWithIMarker
behavior, an Objective can now request that an operator adjust a pose within the 3D scene using an interactive marker. For example, verifying a candidate grasp pose in a user-in-the-loop pick-and-place.RequestTextFromPrompts
behavior, an Objective can now request that an operator input textual content into a form. This enables, for example, including operator-driven prompting of an ML model within your Objective.AdjustPoseWithIMarker
publishes a candidate pose and returns the adjusted pose from the UI
GetSyncedImages
synchronizes two camera topics, most useful for synchronizing RGB data with depth data to generate a pose from a pixel coordinateRequestTextFromPrompts
behavior to display textual forms in the UIGetPoseFromUser
and GetIntFromUser
behaviorsAddToVector<T>
and ResetVector<T>
which can be implemented to allow composing vectors during Objective runtimeActionClientBehaviorBase
:
ActionClientBehaviorBase
behavior template now exposes a getAbortedMessage
function that returns a string. The string will be displayed in the MoveIt Studio error toast message if the action is aborted. The ExecuteFollowJointTrajectory
and ExecuteTrajectoryWithAdmittance
behaviors now provide useful hints if they are aborted.ExecuteTrajectoryWithAdmittance
(see Key Changes section)SetupMTCUpdateGroupCollisionRule
behavior's parameters are no longer read in from a YAML file using the LoadObjectiveParameters
behavior. The behavior parameters are set as input ports.GetMeshNormalPose
behavior to calculate the surface normals of a visual mesh in the robot modelPublishMarkers
behavior to publish a MarkerArray to the UI/RViz.SolveIKQueries
behavior to determine if the robot can reach a list of target poses.Octonion
Vector3
Transform
TransformStamped
Time
(builtin_interfaces)Waypoint
(moveit_studio_agent_msgs)UnorderedMap<String, Waypoint>
stop_accelerations
port to the MoveIt Pro Joint Trajectory Admittance Controller to allow specifying per-joint decelerations to use when halting trajectory execution, in the event of force threshold being met or other exit criteria.
moveit_pro
script and the included launchfilesMajor version increase.
tree_nodes_model.xml
for Behavior plugins, significantly simplifying behavior management.
moveit_pro build_workspace
reports if there are errors building or running the user Docker overlay.Major version increase and rebrand to MoveIt Pro.
moveit_studio
to moveit_pro
.Teleoperate
Objective that allows user to move between different teleoperation modes without switching Objectives.
Request Teleoperation
Subtree that allows adding teleoperation in your custom Objectives, with configurable prompts to guide operators.FitLineSegmentToMask3D
- Fits a line segment to a 3D point cloud fragment.
LoadPoseStampedFromYaml
- Loads a stamped pose ROS message from a YAML file.tree_nodes_model.xml
to categorize your Behaviors.SendMessageToTopicBehaviorBase
class to create Behaviors that publish to a ROS topic.manual_grasp_link
frame from robot description, in favor of the gripper-aligned grasp_link
frame../moveit_pro logs
command to open a log viewer.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.