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2019.07.23 Release Notes

Welcome, Misty Developers! We’re excited to announce the next system update for Misty II robots. Our efforts around hardening Misty’s system for shipment have culminated a few new features, lots of bug fixes, and many other improvements to the platform. Be sure to see the full list of Breaking Changes below to learn about the implications these updates may have for your skills and robot applications, and keep reading to discover everything that’s new this release.

Note: Misty’s software updates are delivered as over-the-air (“OTA”) updates. This release will be available to your Misty II robot within the next 24-48 hours (the precise timing varies by region). Check to see if the update is available via Misty’s Command Center.

Important! There is a known issue with the previous release that prevents Misty from automatically installing available system updates when she boots up. To install this release, you’ll need to manually initiate the system update by following these steps:

  1. Boot Misty up and connect her to a wired power source.
  2. Use Misty’s IP address to connect Misty to the Command Center web page.
  3. Check the box to Override Battery Check in the System Updates section.
  4. Click the Perform System Update button.

Misty reboots once during a system update. All commands except Halt and Stop are disabled while Misty is updating. If Misty starts installing an update while she’s charging, do not disconnect her from her power source until the update is finished and her eyes are fully open.

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 in your post.
  • Post a message to the MistyCommunity Slack in the technical_support channel.

As always, we look forward to your feedback!

Release Contents

Both EP2 and FEP Misty II prototypes will receive this system update; however, the firmware and software version numbers are not the same for EP2 and FEP units. If you’re not sure which prototype you have, check out the Field Trial section of the Community Forums. You can also reply to this thread for help.

Note: Misty I robots will not be updated with this release.

  • Misty II FEP - Updates
    • Window IoT Core OS: version 10.0.17134 or higher - No updates
    • Android OS: (8.1) No updates
    • Home Robot App: version
    • MC firmware: version
    • RT firmware: version
    • Sensory Services App: version
  • Misty II EP2 - Updates
    • Window IoT Core OS: version 10.0.17134 or higher - No updates
    • Android OS: (8.1) No updates
    • Home Robot app: version
    • MC firmware: version
    • RT firmware: version
    • Sensory Service app: version
  • Misty I - No Updates
    • Window IoT Core OS: version 10.0.17134 or higher - No updates
    • Android OS: (7) No updates
    • Home Robot app: version - No Updates
    • MC firmware: version - No Updates
    • RT firmware: version - No Updates
    • Sensory Service app: version - No Updates
  • Web-based tools - Updates
    • Various bug fixes and improvements. See below for details.
  • Docs - Updates
    • New information architecture to decouple Misty I and Misty II API documentation.

New Features

  • You can now use audio localization data to find the relative position of sounds Misty detects with her microphones.
    • Register for SourceTrackDataMessage events to receive information about the relative position and volume of the sounds and voices that Misty detects.
    • Register for SourceFocusConfigMessage events to receive metadata about the configuration of audio localization data.
  • We’ve exposed the RebootRobot command in Misty’s REST and JavaScript APIs. Use this command to restart Misty’s 410 and 820 processors without physically toggling Misty’s power switch.
  • No more blank stares! We’ve configured Misty to blink automatically. This is an early version of blinking that sets the stage for the new set of image assets we’ll be releasing for Misty’s eyes in a future update.
    • You can use the SetBlinking command with Misty’s REST and JavaScript APIs to toggle blinking on and off.
    • Misty requires the blinkMisty.png file for blinking to work. Note: The blinkMisty.png file wasn’t installed on all EP2 and FEP robots at the manufacturing facility. If this image is not in your robot’s list of image assets, you can download it from GitHub and upload it to Misty via the Command Center.

Bug Fixes & Improvements

Misty II

Breaking Changes

The following updates to Misty’s REST and JavaScript APIs change the expected arguments and return values for many of Misty’s commands. Read this list to understand how these changes may affect your skills and applications.

  • Misty now uses a default value of false for the base64 parameter in the following REST API commands:
    • TakePicture
    • TakeFisheyPicture
  • The base64 argument has been removed from the syntax for the following methods in Misty’s JavaScript API, and these commands now return image data as a base64 string by default:
    • misty.TakePicture()
    • misty.TakeFisheyePicture()
  • When you use Misty’s REST or JavaScript API to invoke a TakePicture, TakeDepthPicture, or TakeFisheyePicture command, the response data now includes a ContentType key/value pair when returning data as a base64 string. The ContentType key has replaced the Format key in the response data.
  • When you invoke a TakePicture command with Misty’s REST or JavaScript API, the system no longer embeds the content URI in the base64 data.
  • DriveEncoder event messages now return distance and velocity data from Misty’s drive encoders as mm and mm/second.
  • Changed the key names used in DriveEncoder event messages to the following:
    • The leftEncoderAngularVelocity key changed to leftVelocity.
    • The rightEncoderAngularVelocity key changed to rightVelocity.
    • The leftEncoderRotations key changed to leftDistance.
    • The rightEncoderRotations key now rightDistance.
  • When using Misty’s arm movement commands, passing in a value of 0 for position, degrees, or radians now sets Misty’s arms to be straight out in front of her (instead of straight down).
  • When you call the SaveImage and TakePicture commands from Misty’s REST or JavaScript APIs, the default values for the width and height parameters is now null.
  • The SaveAudio and SaveImage commands in Misty’s REST and JavaScript APIs now save base64 strings instead of data byte arrays. The DataAsByteArrayString parameter for these commands has changed to Data.
  • The response data for BatteryCharge event messages and for the GetBatteryLevel command in Misty’s REST and JavaScript APIs has changed.
    • Removed key/value pairs for capacitymAh, lastChargeCapacity, maxMeasuredCapacity, and numberOfChargeCycles.
    • Changed currentmAh to current.
    • Added healthPercent key/value pair.


  • Fixed a bug where Misty would attempt to download and install an update before receiving battery data from the firmware.
  • Increased how quickly Misty’s firmware reports battery data when she boots up.
  • Added ability for system to return current health of Misty’s battery. The battery must go through a full charge-to-discharge or discharge-to-charge cycle before Misty returns battery health.
  • Various logging improvements.
  • Added an optional ContentType parameter to the SendExternalRequest command in Misty’s REST and JavaScript APIs.
  • Added ability to parse form data to the SendExternalRequest command.
  • Fixed a bug where the SetWebsocketVersion command accepted values other than actually existing versions of Misty’s WebSocket system.

Sound & Display

  • For the GetAudio command in Misty’s REST and JavaScript APIs, added the option to return audio data as a base64 string.
  • If you invoke the StartRecordingAudio command in Misty’s REST and JavaScript APIs without appending the filename for the recording with a file type extension, the system now automatically adds the .wav extension. If you try to use another file type extension, the system automatically changes it to .wav.
  • Changed the default value for the volume parameter in Misty’s PlayAudio command to null.
  • Fixed a bug with the SaveAudio command where passing in a true value for the immediatelyApply parameter did not cause Misty to play the sound.
  • For the DisplayImage command in Misty’s REST and JavaScript APIs, the Alpha and TimeoutSeconds parameters now default to null.

SLAM / Computer Vision

  • Updated firmware for Misty’s depth sensing hardware for better SLAM performance.
  • When you invoke a TakeFisheyePicture or TakeDepthPicture command with Misty’s REST or JavaScript API, the system now starts and stops SLAM streaming automatically. Before this change, the system required you to start and stop streaming programmatically before and after invoking these commands. The system does not automatically disable SLAM streaming if you’ve explicitly enabled it in your code.
  • Increased the speed with which the TakePicture command returns a response.
  • Fixed an issue where Misty could not use SLAM streaming and take a picture at the same time.

Locomotion and Head/Arm Movement

  • Fixed a bug that caused Misty to move her head too slowly, and capped the max velocity for head movement commands at 100%.
  • Improved the accuracy of inertial measurement unit (IMU) data Misty sends for the force of gravity when she’s pointed up.
  • Set a limit on the upper range of Misty’s arm movement to prevent her arm from tapping the screen in front of her display.
  • Changed default value for velocity in Misty’s head and arm movement commands to null.

Web-based Tools

  • Fixed bugs and improved various styling and responsiveness elements across all tools.
  • Improved notification messages across all tools.
  • Standardized connection handling/messaging across all tools.
  • Added Wi-Fi button and connection modal to Skill Runner and API Explorer.
  • Fixed an issue with Command Center where Misty failed to populate the list of known Wi-Fi networks.
  • Changed default debounce for sensor data WebSocket connections in Command Center to 100ms.
  • Removed unexposed/unused arguments and commands from the API Explorer interface.
  • Fixed an issue with the Command Center where Misty would attempt to start mapping before getting the status of her SLAM sensor.
  • Added and improved the descriptions for various commands in the API Explorer.
  • Added a null check to battery charge percentage.
  • Removed IP validation from Command Center.
  • Improved map display modal in the Command Center.

New Known Issues

The following is a list of new known issues with this release. For the full list of known issues, see the Known Issues category of these forums.

  • If you try to use the Command Center to take a picture before Misty’s 820 processor is fully booted, the system does not “fail gracefully” – instead, the Command Center shows a broken image icon in the modal where the picture should appear.
  • The Command Center sometimes shows false notification messages when using the Sensor Data section to subscribe to Misty’s WebSocket connections. You may see notifications that say “Subscribing” when they should say “Unsubscribing”, and vice-versa.
  • When using the GetLogFile command, the Date parameter does not work as expected. Instead of returning logs only for the specified date, Misty ignores the parameter and returns all logs.
  • Attempting to perform a system update through the Misty App does not work.
  • When reopening the Misty App after walking away from Misty (far enough to lose connection) and walking back, the app may crash. We’ve also observed the Misty App crashing after connecting to a different robot from the list of available robots. Please message us at (or post in these forums) if you experience crashes while using the Misty App.
  • Taking several pictures in a row with Misty’s fisheye camera (or using other functionality that involves starting and stopping SLAM streaming) sometimes causes SLAM streaming to stop working.
  • Misty won’t play audio files that you record using the Command Center interface back through her built-in speakers.

cheers for all of the progress!


Very exciting updates, Johnathan!

One question: is Misty Slack invite only? Was thinking it might be helpful to lurk while we’re waiting for our Misty to arrive.

1 Like

It’s reserved for supporting field trial testers at this point :slight_smile: However, if you have early questions about how to work with certain of Misty’s capabilities, please feel free to post them to these forums! We’ll make sure it gets an answer, and we’re excited to see more of those conversations on this site.