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Misty Community Forum

2019.12.17 System Update

Greetings, Misty developers!

This week marks Misty’s last system update of 2019. New features include speech capture APIs and events for handling end-of-speech detection. We’ve also improved Misty’s head movement APIs, fixed an issue with arm movement commands, enhanced the stability of Misty’s range time-of-flight sensors, and resolved a handful of minor issues with Misty’s web-based SDK tools. See the full release notes below for more details.

Thanks, as always, for being one of Misty’s first developers. Your feedback shapes future of robotics development platforms, and we can’t wait to hear what you think!

Installing the Update

Misty receives software upgrades as over-the-air (OTA) system updates. This update will be available within the next 24-48 hours (the precise timing varies by region).

Misty automatically checks for new updates each time she boots up. As long as her battery has enough charge, she automatically installs any updates that are available. If your robot doesn’t start to install this update the next time she boots up:

  • Check that Misty is connected to power or sitting on her wireless charging station.
  • Try connecting Misty to the Command Center to make sure she’s still on your Wi-Fi network.

If Misty is charging and connected to the internet, you can check whether an update is available in your region by connecting Misty to the Command Center and looking at the System Updates section.

Note: Misty reboots once during a system update. During an update, Misty ignores all commands except Halt and Stop. If Misty starts installing an update while charging, do not remove the power source until the update is finished and Misty’s eyes are fully open.

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

Release Contents

Note: This system update is only available for Misty II robots. Misty I robots will not be updated with this release. If you are a field trial developer with a Misty II prototype, you can find the firmware and software version numbers for your robot in the Field Trial section of the Community Forums.

  • Misty II - Updates
    • Window IoT Core OS version: 10.0.17134 or higher - No updates
    • Android OS: (8.1) - No updates
    • Robot Version:
    • MC Version:
    • RT Version:
    • Sensory Services App Version: 1.8.4
  • Web-based Tools - Updates
    • Major changes listed
  • Misty JavaScript (VSC Extension) - Updates: v1.0.2
    • Fixed typos and added missing autocomplete details
  • Documentation
    • No major changes
  • Misty App - No Updates

New Features

  • Upgraded APIs with new commands and event types for capturing speech and handling end-of-speech detection. You can use this functionality with natural language processing services to quickly prototype and deploy skills that use voice interactions.
    • Use the CaptureSpeech command in JavaScript skills, .NET skills, and REST applications to command Misty to start recording speech.
    • Implement speech capture with the existing StartKeyPhraseRecognition command.
    • Register listeners for the VoiceRecord event type to handle captured speech and trigger actions when Misty creates a new speech recording.
  • Added support for unsecured networks. After this update, Misty can connect to Wi-Fi networks that don’t require a password.

Bug Fixes & Improvements

Misty II

Breaking Changes

  • Upgraded StartKeyPhraseRecognition command in REST API, JavaScript, and .NET SDKs with new parameters for configuring speech capture after wake word activation. By default, Misty now attempts to capture speech immediately after recognizing the wake word. Use the newly added optional parameters for this command to customize this behavior.
  • Added duration and units parameters to the misty.MoveHead() method in Misty’s JavaScript API.
  • Increased default distance threshold for Misty’s range ToF hazards from 150 mm to 215 mm to decrease likelihood of collisions with Misty’s increased ToF latency. Note: These changes ameliorate the effects of increased range ToF latency, but do not eliminate them altogether. Misty may sometimes collide with obstacles when driving at top speeds. The likelihood of these collisions is higher when Misty drives in reverse, as the robot is less likely to detect obstacles behind her with her single rear-facing sensor.

Movement & Hazards

  • Fixed bug that allowed Misty to move arms outside allowed range of movement
  • Added status, sigma, signal, and distance values to time-of-flight hazard messages in Misty’s log files
  • Reduced frequency of range time-of-flight (ToF) polling in Misty’s firmware to improve reliability of ToF readings. (This change does not affect edge (downward-facing) ToF sensor readings.)
  • Added averageTimeInMs, sigma, signal, and inHazard fields to TimeOfFlight event messages


  • Fixed a bug that prevented SLAM system from populating SelfState with correct pose coordinates for use with tracking and pathfinding APIs.


  • Improved log readability by decreasing verbosity of some logging mechanisms
  • Added new LED notification so that Misty blinks her chest LED blue while recording audio

Web-Based Tools

All Tools

  • Fixed an issue where some special characters failed to display correctly in the web UI

API Explorer

  • Added several missing command descriptions

Command Center

  • Added “unsecured network” option to Command Center interface for connecting Misty to a new Wi-Fi network.

Misty JavaScript Extension (VSC)

  • Updated autocomplete descriptions for JavaScript API changes
  • Fixed typos in existing autocomplete descriptions

Known Issues

New known issues are listed below. For a comprehensive list of the issues we’re tracking, see the Known Issues section of the Community forums.

  • When using the misty.CaptureSpeech() method in Misty’s JavaScript SDK, Misty always waits to recognize the key phrase before she starts recording, even if requireKeyPhrase is set to be false.
  • The misty.CaptureSpeech() method in Misty’s JavaScript API does not trigger the expected callback when your skill successfully invokes the CaptureSpeech command.

Should this update be widely disseminated by now? I’m still running with no system updates available.

Hi @Kazapalooza,

Yes, we expect all robots to have updated by now. Could you follow these steps to get a diagnostic file from your robot, and attach the file in an email to A member of the team can take a look at the logs and device information in that file, and we’ll continue troubleshooting via email if that works for you!