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10.17.18 Release Notes

Welcome, Misty I Developers!

This release is Misty’s biggest ever. It contains lots of new features that we’ve been working on for months and we’re excited to see what you do with them. These include a top request: “raw access” to photos from both Misty’s 4K camera and her powerful Occipital Structure Core depth sensor. The Occipital Structure Core is how Misty navigates, but it’s—at heart—a very powerful imaging tool that we believe you’ll find some really creative uses for.

Because the release is being delivered as an over-the-air (“OTA”) update, Misty will automatically update herself at her next reboot. And just a reminder – an update can take up to an hour to download and the update process itself may take up to 30 minutes. During this time please leave Misty connected to a power source and do not attempt to send her any commands or reboot her manually. You also have the option of starting the update yourself via:

Important: Misty reboots once during a system update. Please do not send any commands to Misty or disconnect her from her power source until her eyes are fully open again.

As always, we look forward to your feedback!

Note: If you have issues with a system upgrade or need technical assistance for other reasons, for the quickest response you can:

  • Post a message to the Support category here in the Community forums.
  • Mention @ support with your post.
  • Post a message in MistyCommunity Slack in the technical_support channel.

RELEASE CONTENTS

  • Windows IoT Core OS: No updates - current version is 10.0.17134
  • Android OS: No updates - current version is Android 7
  • HomeRobot app: version 1.1.10.0
  • Motor Controller (MC) firmware: version 1.1.10.6
  • Real Time (RT) Controller firmware: version 1.1.10.6
  • Sensory service app: version 1.1.10.6
  • Occipital Structure Core firmware: No updates - current version is 0.8.6
  • Companion app
    • iOS: version 1.1.246
    • Android: No updates - current version is 1.1.0 (94)
  • Tools
  • Skills
    • No updates
  • Documentation (major changes listed)
    • No major changes

New Features

Note: Capabilities released as “alpha” quality are not feature complete, may change in the future, and have had minimal testing.

  • “Raw access” to photos from Misty’s 4K camera and from the Occipital Structure Core depth sensor.
    • Ability to take a photo using Misty’s 4K camera and display it in the browser or download it to your computer. You can use this functionality with either the TakePicture “alpha” command or via the API Explorer.
    • Ability to take a photo using Misty’s Occipital Structure Core depth sensor and display it in the browser or download it to your computer. You can use this functionality with either the SlamGetVisibleImage “alpha” command or via the API Explorer. Active use of mapping or tracking at the same time is not required, however you must use the SlamStartStreaming “alpha” command (see below) before using this call.
  • “Raw access” to distance data from the Occipital Structure Core depth sensor.
    • New SlamGetDepthImage “alpha” command returns a matrix of distance values for the current view from the Occipital Structure Core depth sensor.
  • Ability to open and close the data stream from the Occipital Structure Core depth sensor, for use outside of tracking and mapping commands.
    • Ability to open the data stream from the depth sensor, so you can obtain image and depth data when Misty is not actively tracking or mapping. You can access this functionality either with the SlamStartStreaming “alpha” command or via the API Explorer.
    • Ability to close the data stream from the depth sensor. You can access this functionality either with SlamStopStreaming “alpha” command or via the API Explorer.
  • Downloading of images and audio files stored on Misty.
    • Ability to obtain an image previously stored on Misty and view it or download it to your computer. You can use this functionality with either the GetImage “alpha” command or via the API Explorer.
    • Ability to obtain an audio file stored on Misty and play it in the browser or in a REST client. You can use this functionality with either the GetAudioFile “alpha” command or via the API Explorer. You can save the file to your computer by manually downloading it either from your browser or from a REST client such a Postman.
  • Uploading of image and audio files to Misty without conversion to byte arrays.
    • Ability to upload image files in the form of “multipart/form-data” to Misty via the SaveImageAssetToRobot command. Note that programmatic upload of files does not work with JQuery’s AJAX but does work with XHR (XMLHttpRequest).
    • Ability to upload audio files in the form of “multipart/form-data” to Misty via the SaveAudioAssetToRobot command. Note that programmatic upload of files does not work with JQuery’s AJAX but does work with XHR (XMLHttpRequest).
  • Ability to force-clear an error message from Misty’s display.
    • You can use this functionality with either the ClearDisplayText “beta” command or via the API Explorer.

Bug Fixes & Improvements

  • Firmware version numbers are now requested every time a user sends a GetDeviceInformation command. This allows MC and RT firmware versions to show up reliably.
  • In the API Explorer, the Get Log Information button now obtains a full week of logs, rather than only the oldest log available.
  • Going forward, OTA (“over the air”) system updates will require sufficient battery charge before beginning.

Known Issues

Network, Updates, Audio, Battery

  • Blank/empty passwords or networks with multi-layer security are not currently supported for network onboarding.
  • OTA (over the air) updates check the version of the Home Robot app only. If other software/firmware is out of date, but the Home Robot app is up to date, an available update will not be offered.
  • Audio files played in the browser by the new GetAudioFile command are at a very low volume.
  • The battery charger will only charge the robot if it is replugged into the robot after each time that the robot is turned on.

Driving, Mapping, Navigation

  • The covering for the time-of-flight sensors can create false positives for close distance detection, which causes the robot to refuse to move. A workaround is to force the robot to detect a further distance by standing in front of it.
  • Inconsistent behavior with the LocomotionTrack command when attempting to drive the robot backward.
  • Issues with the speed/reliability of data coming from the Occipital Structure Core depth sensor’s USB connection is causing the robot to have issues with successfully obtaining pose.
  • The FollowPath command results in the robot driving to specified waypoints only about 30% of the time.
  • Observed issues with retrieving a new map after completing the start/stop mapping process in API Explorer.
  • Inconsistent map orientation between Misty Companion app and the API Explorer.

Image Handling and Computer Vision

  • Observed issues with consistently receiving data for face commands.
  • After a user successfully sends a SaveImageAssetToRobot POST request to the robot, an incorrect false value is given for the userAddedAsset parameter.
  • Images are not correctly centering themselves when a user-added image is displayed on Misty.
  • Performance issues with head movement and display commands after the robot has been continuously on for about an hour.

Companion App

  • When onboarding a robot with the Misty Companion app, even though it says it’s connected, the IP address and battery % may not be displayed initially. Closing the app and repeating the connection process will allow that data to be displayed.
  • Attempts to create a map with the Misty Companion app results in mapping failing for the remainder of the session about 10% of the time.
  • The Misty Companion app on Moto z2 devices contains overlapping buttons on the map screen.
  • It takes longer than it should to retrieve a “no map” response after a failed mapping attempt on the Misty Companion app.
  • There is an observable delay between joystick movement and the robot driving while using the Misty Companion app.
  • When changing networks via the Misty Companion app, the older IP address remains for several seconds after the network has been changed.
  • Issues with consistently resetting a map using the Misty Companion app.