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

• 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.

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.

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

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.

• 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.

• Fixed built-in pick and place Objectives for BT.CPP 4.1.

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.