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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.

2.0.1

· One min read
  • Added documentation for launching MoveIt Studio with Gazebo simulation.
  • Fixed issues with large joint jumps in MoveIt Servo for the UR5e robots.
  • Fixed issues in the Waypoints API and editor.
  • Fixed unhandled exceptions in the Objective Server.

2.0.2

· One min read
  • Fixed built-in pick and place Objectives for BT.CPP 4.1.

2.0.0

· 7 min read

Changes in This Release​

Major version increase.

  • Upgraded to BehaviorTree.CPP 4.1.1.
  • Added a new web-bridge for isolated, local MoveIt Studio deployments.
  • Added additional tutorials for custom Behavior generation and workspace testing.
  • Added support for tuning admittance control parameters to the user interface.
  • Added additional Behavior interface base classes for simplifying building of customer Behaviors.
  • Added a public MoveIt Studio user workspace.
  • Added support for including multiple tree_nodes_model.xml files in user workspaces.
  • Added messaging to the user interface for MoveIt Servo statuses (e.g. approaching singularities or joint limits).
  • Added an UpdatePlanningSceneService Behavior for improved collision scene monitoring.
  • Added a ForEach decorator node for iterating over values in a Behavior Tree.
  • Added overlay Docker images and instructions for developing MoveIt Studio Behaviors from containers.
  • Added ability to modify the servo speed from the Cartesian and Joint control panels.
  • Added support for logging at different levels from Behaviors to the MoveIt Studio user interface.
  • Improvements to the Logging panel in the MoveIt Studio user interface.
  • Improvements for database synchronization in the Objective Editor.
  • Fixed warnings for missing configuration in base and site config parameters.
  • Fixed issues related to DDS configuration generation.
  • Fixed issues with animations and lagging in the user interface.
  • Fixed segfault issues related to Robotiq Gripper connections.
  • Fixed issues with the JointTrajectoryController and success criteria in ros2_control Humble.
  • Fixed issues related to Behavior Tree layouts in the Objective Editor.