Release 10.1.0

What's Changed

• Bump src package versions to 9.5.0 by @JWhitleyWork in #710
• Add behavior_hub_catalog config for the Behaviors Hub export by @L4co77 in #709
• Suppress ros2_control overrun warnings in simulation configs by @davetcoleman in #713
• chore(deps): bump PickNikRobotics/moveit_pro_ci from 0.5.1 to 0.9.0 by @dependabot[bot] in #711
• Improve factory_sim sim and 3D viewer visuals by @davetcoleman in #712
• Merge v9.4 into main by @github-actions[bot] in #715
• Add constant-speed Cartesian timing to the Grind Machined Part example by @fdavulcu in #725
• Add weekly objective integration tests for remaining example sims by @shaur-k in #721
• Merge v9.4 into main by @github-actions[bot] in #723
• chore(deps): bump actions/checkout from 6 to 7 by @dependabot[bot] in #724
• Fix: Remove stale SRDF disable_collisions for non-URDF vacuum links in hangar_sim by @davetcoleman in #726
• Add Bug type and example_ws label to weekly failure issue by @shaur-k in #730
• Fix: Vacuum grasp pierces the box and gets stuck during Execute MTC Solution by @fdavulcu in #732
• Fix: MPC Pose Tracking strays off the target by @fdavulcu in #734
• Merge v9.4 into main by @github-actions[bot] in #733
• Tidy up the Sort Blocks objective in dual_arm_sim by @fdavulcu in #738
• Merge v9.4 into main by @github-actions[bot] in #737
• Fix: Configure safe colcon overrides by @JWhitleyWork in #740
• Merge v9.4 into main by @github-actions[bot] in #741
• Fix: Segment Image from Text Prompt looks at boxes before segmenting by @L4co77 in #739
• Merge v9.4 into main by @github-actions[bot] in #747
• Chore: Remove Shaur references by @marty-mcfly-bot[bot] in #748
• Merge v9.4 into main by @github-actions[bot] in #749
• chore(deps): bump actions/setup-python from 6.2.0 to 6.3.0 by @dependabot[bot] in #744
• Fix: Stabilize weekly sim objective integration by @marty-mcfly-bot[bot] in #751
• Migrate example_ws Objectives off deprecated PlanCartesianPath timing ports by @fdavulcu in #752
• feat: hangar_sim, add beluga_amcl localization with hardcoded initial… by @bkanator in #605
• Fix: factory_sim bin picking fails when brackets settle near the workspace boundary by @griswaldbrooks in #754
• Add Pick and Place Brackets from Left Bin to the factory_sim integration test by @griswaldbrooks in #755
• Fix: Stop hangar_sim base pirouette by enabling JTC yaw angle_wraparound by @griswaldbrooks in #753
• Add SAM3 perception and persistent placed-box obstacles to hangar_sim ML Move Boxes by @griswaldbrooks in #746
• ci: Add Backport Feature from moveit_pro by @JWhitleyWork in #757
• [Backport v9.4] Fix: factory_sim bin picking fails when brackets settle near the workspace boundary by @backport-pr-creator[bot] in #758
• chore(kitchen_sim): Remove unused L2G ONNX model by @griswaldbrooks in #764
• Bump phoebe_ws to pick up the PlanCartesianPath timing-port migration by @fdavulcu in #767
• Merge v9.4 to Main by @JWhitleyWork in #768
• remove unused controller_names and trajectory_monitoring ports by @marioprats in #762
• Fix: Make robot_state_publisher the sole owner of the ridgeback_base_link transform in hangar_sim by @griswaldbrooks in #756
• Fix: Nav objectives discard click-time pose stamps by @griswaldbrooks in #763
• slightly decrease path length in Plan Path Along Surface by @marioprats in #776
• Remove dead MoveIt mecanum controller-handle shim from hangar_sim by @marioprats in #772
• chore(deps): bump actions/checkout from 6.0.3 to 7.0.0 by @dependabot[bot] in #771
• Fix lab_sim camera point-cloud stalls by @marty-mcfly-bot[bot] in #777
• chore(deps): bump korthout/backport-action from 4.5.2 to 4.6.0 by @dependabot[bot] in #770
• Migrate Behaviors from shared_resources_ to getBehaviorContext() by @JWhitleyWork in #773
• Refactor perception objectives to use SAM3 by @johannes-kepler-bot[bot] in #784
• Fix: Navigate to Clicked Point objectives abort with TF extrapolation error by @bkanator in #791
• Remove ROS 2 Humble support by @marty-mcfly-bot[bot] in #792
• Remove L2G example workflow and model by @johannes-kepler-bot[bot] in #795
• docs(lab_sim): explain ICP delta semantics in Register CAD Part objective of lab_sim config by @D-1shu in #788
• Distribute factory_sim SAM 2.1 models under Apache-2.0 with Meta attribution by @griswaldbrooks in #801
• Fix: Air-pick in hangar_sim ML Move Boxes — zero the vacuum grasp TCP offset by @griswaldbrooks in #807
• Fix: Hangar_sim JTC rejects goals with sub-epsilon terminal velocities (workaround pending moveit_pro#20766) by @griswaldbrooks in #808
• Fix: Use moveit-pro Docker image name by @marty-mcfly-bot[bot] in #798
• chore(deps): bump actions/checkout from 7.0.0 to 7.0.1 by @dependabot[bot] in #805
• Rename cartesian_planning references to path_ik by @fdavulcu in #813
• Fix: Migrate hangar_sim nav2 config to Jazzy and isolate localization by @griswaldbrooks in #809
• Adopt UnpackRobotStateMessage in lab_sim/factory_sim objectives by @marioprats in #817
• chore(deps): bump actions/setup-python from 6.3.0 to 7.0.0 by @dependabot[bot] in #806
• Fix: Rename example_ws objectives to RobotState Behavior names by @L4co77 in #824
• CI: Skip empty release merge pull requests by @marty-mcfly-bot[bot] in #827
• Rename agent_bridge Compose service and config-package launch files to runtime by @L4co77 in #828
• Migrate example configs to MoveIt Pro 10.0 hardware schema by @marioprats in #821
• Migrate objectives to the OrientationConstraint message port by @marioprats in #820
• Fix: AprilTag detection silently broken by RELIABLE QoS default on Jazzy by @davetcoleman in #829
• feat(config): configure example runtime launch payloads by @marty-mcfly-bot[bot] in #834
• Add forward stereo camera to hangar_sim for VO/VSLAM input by @bkanator in #822
• Add vla_sim: prompt-driven cube stacking with a vision-language-action policy by @fdavulcu in #815
• Skip SAM3 lab_sim objectives pending the port migration by @griswaldbrooks in #836
• Switch SAM3 Objectives to the model bundle manifest by @griswaldbrooks in #802
• Switch SAM2 point-query Objectives to the model bundle manifest by @griswaldbrooks in #833
• Delete the static-sphere MPC pose tracking objective from lab_sim by @fdavulcu in #837
• Migrate the SAM2 segmentation example Behavior to the SAM2Segment API by @griswaldbrooks in #832
• Bump moveit_pro_ci to v0.9.1 for the integration container's hardware identity by @dv-picknik in #838
• Fix: factory_sim automask Objectives fail on removed model-path ports by @griswaldbrooks in #839
• Add region-coverage-path demo for GetRegionFromUser (wrist camera) by @L4co77 in #835
• Fix: vla_sim teleop gripper close/open falls back to unconfigured default Objective by @griswaldbrooks in #841
• Merge v10.0 into main by @github-actions[bot] in #843
• Fix: Remove web_ui compose service that no longer exists in v10 by @JWhitleyWork in #845
• Fix: vla_sim config missing required runtime_launch_file by @griswaldbrooks in #846
• Merge v10 to main by @JWhitleyWork in #850
• Fix: AddBottlesToPlanningScene builds its offset as a generic vector instead of a Vector3 by @fdavulcu in #852
• Fix: Migrate Objectives from the deprecated position_only port to cartesian_constraint by @fdavulcu in #853
• Bump phoebe_ws to pick up the PlanCartesianPath position_only migration by @fdavulcu in #854
• Add Collect Training Data with Behaviors Objective to lab_sim by @marioprats in #849
• Merge v10.0 into main by @github-actions[bot] in #857
• Fix: Allow link_4 collision with the attached suction gripper in factory_sim tool change by @JWhitleyWork in #858
• Fetch colcon mixins via git clone instead of raw.githubusercontent.com by @rlpratt12 in #855
• Fix: Give the factory_sim tool-change retract a tolerance band by @fdavulcu in #860
• Merge v10.0 into main by @github-actions[bot] in #859
• Merge v10.0 into main by @github-actions[bot] in #868
• fix(hangar_sim): replace deprecated behavior and ports in move boxes subtree by @D-1shu in #872
• Fix: Align Hangar teleoperation with v10 by @noah-wardlow in #876
• Update Phoebe dependency after licensing remediation by @kronk-bot[bot] in #878
• Merge v10.0 into main by @github-actions[bot] in #877
• Remove the moveit_pro_clipseg submodule by @davetcoleman in #879
• Fix factory_sim Plan Path Along Surface Objective by @marioprats in #881
• Fix: Malformed quaternion literal breaks three Kinova Move Along Path Objectives by @D-1shu in #861
• fix(hangar_sim): round out the mecanum wheels so the base stops juddering by @L4co77 in #875
• Merge v10.0 into main by @github-actions[bot] in #880
• Merge v10.0 into main by @github-actions[bot] in #885
• Fix: Octomap Example Objective description typo and stale RViz mention by @davetcoleman in #886
• Add hand_eye_calibration_sim config by @fdavulcu in #873
• Fix: Derive the hangar_sim base height from the wheel geometry by @L4co77 in #882
• Fix: Raise vla_sim stacking objective path tolerance above sim servo lag by @fdavulcu in #888
• Fix: Install nav2_mppi_controller 1.3.13 from ros2-testing and enable MPPI open_loop in hangar_sim by @JWhitleyWork in #889
• Fix: Install nav2_mppi_controller 1.3.13 from a PickNik-hosted deb instead of ros2-testing by @JWhitleyWork in #895
• Fix: Prepare Kinova admittance path from the reset posture by @scopenhagenPickNik in #910
• Fix: mock_sim and multi_arm_sim launch abort from Robotiq mimic-joint command interfaces (v10.1) by @marioprats in #916
• Fix: Convert behavior-collected lab_sim data with next-state action labels by @scopenhagenPickNik in #911
• Fix: Improve factory bracket suction grasp reachability by @scopenhagenPickNik in #947
• Fix: Select Region for Coverage Path warns about deprecated PlanCartesianPath ports by @fdavulcu in #950
• Fix: Raise the lab_sim gripper stall velocity threshold by @fdavulcu in #951
• feat(hangar_sim): gate the forward stereo pair behind enable_vo by @bkanator in #952
• Fix: Make Cartesian Path with Collision Checking fail by design by @fdavulcu in #960
• Fix: namespace Robotiq activation GPIO by @bb-8-bot[bot] in #961
• Fix: Bound Push Button execution with a timeout by @scopenhagenPickNik in #972

New Contributors

• @johannes-kepler-bot[bot] made their first contribution in #784
• @D-1shu made their first contribution in #788
• @kronk-bot[bot] made their first contribution in #878
• @bb-8-bot[bot] made their first contribution in #961

Full Changelog: 9.4.0...10.1.0