Welcome, Misty I Developers!
This release contains improvements to Misty’s computer vision system, enhancements to the over-the-air (OTA) update process, and a few changes to the commands for taking pictures and saving image assets. Because the release is being delivered as an OTA update, Misty will automatically update herself at her next reboot. You also have the option of starting the update yourself via:
- the Companion App
- or the API Explorer (if your current HomeRobot app version is older than 126.96.36.199, you will need a PRIOR RELEASE of the API Explorer
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.
- Window IoT Core OS: No updates - current version is 10.0.17134
- Android OS: No updates - current version is Android 7
- Home Robot app: version 188.8.131.52
- Motor Controller (MC) firmware: version 184.108.40.206
- Real Time (RT) firmware: version 220.127.116.11
- Sensory service app: version 18.104.22.168
- Occipital Structure Core firmware: No updates - current version is 0.8.6
- iOS: version 1.1.247
- Android: No updates - current version is 1.1.0 (94)
- Updates: Added tutorial sample code
Note: Capabilities released as “alpha” quality are not feature complete, may change in the future, and have had minimal testing.
- Ability to change the size of images you upload to Misty. Access this functionality with the
- Ability to resize photos captured by Misty’s 4K camera and save them directly to your robot without performing Base64 to byte array conversions. Access this functionality with the
- Misty’s screen now displays dynamic update messages indicating the download status and the software or firmware being updated during each stage of the OTA update process.
GetHelpcommand now returns data in an easy-to-read format.
- Ability to install an update for a specific component of the robot should a component fail to update with the rest of the system. Access this functionality with the
Bug Fixes and Improvements
- Improved over-the-air (OTA) update architecture to stabilize OTA updates, incorporate specific error messages, and improve logging.
- Enhanced system to improve the reliability of computer vision and camera commands. These enhancements include:
- System better handles negotiation between the 4K and Occipital Structure Core camera systems.
- System is now notified when the 4K camera is in error. If you try to use the 4K camera while it is in error, Misty returns a message asking you to try again in a couple of minutes.
- Misty now uses a new Occipital Structure Core SDK with various reliability fixes and enhancements.
- Fixed an issue with drive commands where a combined linear and angular velocity of greater than 100 caused the robot not to move.
- API Explorer now automatically attempts to re-establish disrupted WebSocket connections instead of sending an error to the console.
- Improved API Explorer responsiveness for head movement sliders and controls that use map data.
- Fixed an issue with the
SaveImageAssetToRobotcommand where the
userAddedAssetproperty always returned the value
Network, Audio, Battery
- Blank/empty passwords or networks with multi-layer security are not currently supported for network onboarding.
- Audio files played in the browser by the
GetAudioFilecommand 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
Haltcommand sometimes fails to stop the motors controlling Misty’s head.
- 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
LocomotionTrackcommand 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.
FollowPathcommand 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.
- Misty’s chest LED and time-of-flight sensors can stop working after Misty is turned on for a long period of time.
Image Handling and Computer Vision
- Misty’s 4K camera does not currently take photos at 4K resolution. Currently this camera takes photos at a default resolution of 1600 x 1200 pixels, and the size and resolution of captured photos cannot be increased above the default.
- Specifying values for the width and height parameters of
SaveImageAssetToRobotdoes not work to resize images with a .png file type extension.
- 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.
- 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.