Changes in This Release​

• Ability to teach pose offsets from AprilTags using the UI.
  • Added several new Behaviors to support this workflow.
    • (Experimental) 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.
    • Pick AprilTag Labeled Object tutorial updated to reflect this new feature.
• Upgraded to latest version of MoveIt Servo.
  • Separated Teleoperate Behavior and Objective into Teleoperate Joint Jog and Teleoperate Twist.
• New motion planning Behaviors:
  • 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.
• New perception Behaviors:
  • 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).
• New experimental Behaviors for Task and Motion Planning (TAMP):
  • 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.
• Switch default inverse kinematics (IK) solver in UR example configuration to TRAC-IK.
• UI updates:
  • Create input and output port remappings for Subtrees.
    • Toggle log levels for controlling the amount information displayed on the screen.
    • "Convert to Subtree" menu options moved into context menus.

Changes in This Release​

• Simplified installation process by significantly reducing number of prompts in favor of default values.
• Added configuration variable to toggle whether MoveIt Studio should use a host-mounted DDS configuration file.
• Behaviors
  • Renamed MoveToJointState Behavior to MoveToWaypoint, as it accepts a Waypoint name as input.
    • New BiasedCoinFlip Behavior to simulate probability of success for testing purposes.
    • New GetMasks2DAction Behavior that sends images to a ROS action server using this GetMasks2D interface for segmentation tasks.
    • Reduce transform lookup errors in FindSingularCuboids Behavior.
• UI updates
  • Added support for Condition nodes in Behavior Tree editor.
    • Expanding a collapsed Behavior Tree node performs automatic layout only on the expanded nodes.

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.
• 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 and AppendOrientationConstraint.
    • Includes a user interface for building orientation constraints.
• 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.
• Updates to Universal Robots example workspace
  • Added a pinch link to prevent UR arms from planning or moving through dangerous pinch poses.
    • New sample constrained planning Objective Constrained Pick and Place added in the picknik_ur_mock_hw_config configuration package.
• 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.

• Fix issues with rendering custom end effectors when previewing grasp poses.

• Fix issues mounting host directories for some shell environments.
• Minor documentation content updates and formatting fixes.

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.

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

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.

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.

• 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.