Quick Links:
7.0.x - Not Released
1.0.x - Arcanum (pre release)
11.0.4 - Lily |
Release Date: July 31st 2023 |
Fixed
Fix sensor calibration verification (which lead to overshoot)
FT-signals not registered / rubberband despite guiding
Disconnect devices while app in background
Disable "next" button in tool creation when no FT-sensor selected
Several UI fixes
Fix Fanuc MTP overshoots
Explicitly upload reference images
Don't load nodenet to retrieve reference images
Disconnecting device while app in background while recording
Ordering of skill iterations
Added
Multi-target positioning Skill (beta)
Camera grid
Support for FANUC LRMate 200iD
TCP displacement in Skill details
MAC address in MIRAI Training app
10.0.1 - Kaolin |
Release Date: April 14th 2023 |
Fixed
App crash due to 2nd camera view in single camera skills
10.0.0 - Kaolin |
Release Date: March 1st 2023 |
Added
Skill Scenarios
Camera Mappings
Fixed
fix loop a MIRAI program from Fanuc TP
9.2.1 - Jove |
Release Date: December 12th 2022 |
Fixed
duplicate device unload
9.2.0 - Jove |
Release Date: December 08th 2022 |
Added
Support for Teledyne/Flir camera
Support for Basler camera
Fixed
Inactive cameras are not stepped anymore
9.1.0 - Jove |
Release Date: December 05th 2022 |
Added
T1 mode for FANUC
new FANUC models: LR Mate 200iD/4S, M-20iB/25, CRX-20iA/L (experimental)
9.0.2 - Jove |
Release Date: November 11th 2022 |
Fixed
Remove camera auto-reassignment
9.0.1 - Jove |
Release Date: September 9th 2022 |
Fixed
Incorrect movements with TCP-displacement & axis locking
MINT freeze when saving episode recording
9.0.0 - Jove |
Release Date: August 15th 2022 |
Added
Support for FANUC CRX10iA/L
8.2.1 - Illenium |
Release Date: September 23rd 2022 |
Fixed
Incorrect movements with TCP-displacement & axis locking
MINT freeze when saving episode recording
8.2.0 - Illenium |
Release Date: July 28th 2022 |
Added
Option to shut down controller via xmlrpc/jsonrpc
Fixed
Faster boot time when internet access is unavailable.
Fix for a edge case where the box would not boot w/o internet
Fix max values for force and speed based-range in the endstate configuration.
Disallow restoring a backup from a different controller
8.1.0 - Illenium |
Release Date: May 5th 2022 |
Added
Feature to record telemetry episodes
Keep-alive for UR robot connections
Fallback to g4dn instances if no p3 available
Changed
"Rubberband" for positioning skills now watches robot speeds
8.0.1 - Illenium |
Release Date: april 19th 2022 |
Changed
Bump shellscripts to 22.02.2
8.0.0 - Illenium |
Release Date: March 11th 2022 |
Added
Support for SDK
Feature to modify the reference position
Endstate information in MINT's test & configure screen
Pull-to-refresh to update policy ETAs
Cache for last 40 active onnx policies, decreasing skill switching time
Changed
Default rotation axis in MINT to "z"
Reduced cloud training time by > 50%
Improved tool configuration wizard
Fixed
Timeout in get_model
App crash on wifi loss
Empty error message on wifi loss
Disappearing tags
Silently failing Capacity Errors
6.2.0 - Galena |
Release Date: September 15th 2021 |
Fixed
Allow user to override force thresholds in policy execution
Disable force-based endstate by default
Cloud connectivity indicator
Minor UI fixes and improvements
6.1.0 - Galena |
Release Date: July 30th 2021 |
Added
MINT 1.5: bottom toolbar in the training and testing loop
Camera view persists during recording
REMOVED
Internal WiFi settings are now hidden
6.0.1 - Galena |
Release Date: June 8th 2021 |
Added
ONNX policies with improved skill initialization time
Multiple rotations for positioning skills
German translation in MINT
Software update wizard with VPN activation
Position based endstates as "beta" feature
Minor UI improvements
Fixed
Deviation from start position in 799 skills (proper axis locking)
Rubberband issues (stops or doesn't start)
TCP-rotation doesn't affect guiding anymore
"variable already in use" bug
5.2.2 - Fusion |
Release Date: June 2nd 2021 |
Fixed
Bug in network settings that prevent correct FT-Sensor settings from being accepted
5.2.1 - Fusion |
Release Date: April 29th 2021 |
Fixed
Bug in skill migration
5.2.0 - Fusion |
Release Date: April 15th 2021 |
Added
Network configuration via MINT
Version compatibility check for MINT
Changed
Support VPN survives reboots, until manually stopped.
Default Subnet for both robot platforms is now 192.168.100.0
Counter during episode recording now counts up (starting from 0:00)
Fixed
Rare case of disappearing skills
Bug in software update that lead to greyed out skills
Error 500 in episode list in admin app
Swapped reference images
5.0.0 - Fusion |
Release Date: February 25th 2021 |
Added
Positioning skills + related UI changes
Always-on cam-feed in recording
Timer during recording, indicating time left for episode
Improved skill creation screen
Episode tagging
Episode rerating
Experimental support for robot models we don't have in the lab, but tested in simulators (UR16e, IRB 1600, IRB 120)
Slight improvement in cloud training time due to optimized preprocessor
Changed
Boxes are now robot platform specific: they show and support only ABB or only UR robots
Once the initial data requirement is met, you can always request a new policy
Provisioning doesn't need an API token anymore
Fixed
Endstates + Rotations
Fix for corruption in software updates via USB
Fix for corruption in writing/restoring backups
4.11.0 - Elixir |
Release Date: December 7th 2020 |
Improved policy resilience against deforming tools
All technically support robots visible in MINT
Episode list in MINT, with the option of playing back the recorded video
New minimum data requirements: >= 5 episodes and >= 30 seconds
Support for negative values in displacement parameters
Fix for missing cloud training button
(shellscripts support for rotations & endstates)
4.10.5 - Elixir |
Release Date: November 25th 2020 |
Proper fix for CoG-estimation with ATI config
Fix for saving camera settings
4.10.3 - Elixir |
Release Date: November 24th 2020 |
Fix for missing tool id in skill creation
Fix for camera autoconfiguration
4.10.2 - Elixir |
Release Date: November 23rd 2020 |
Patch release for sensor discovery CoG estimation
4.10.2 - Elixir |
Release Date: November 11th 2020 |
Patch release for upcoming shellscripts compatibility
4.10.0 - Elixir |
Release Date: November 6th 2020 |
Auto-Detect and configure ximea cameras on boot
Proper rollback for software updates
Activate new policies only in "Test & Configure Policy"
Make g-compensation work with ATI sensors
Functionality to delete tools
Improved UI for COG Estimation
Robot paused if MINT app goes into background
4.9.0 - Elixir |
Release Date: October 14th 2020 |
Reduce policy training time by about 50%
Allow restoring backups from older versions
Robot proximity errors now raise an error
Fix for policy ETA display
Fix for training instances running out of storage
Fix for corrupted nodenets
4.8.2 - Elixir |
Release Date: September 21st 2020 |
Disable landscape mode in MINT app
4.8.1 - Elixir |
Release Date: September 11th 2020 |
Fixed a bug where we lost box ssh passwords
mirai-setup ignores positioning skills for now
4.8.0 - Elixir |
Release Date: September 10th 2020 |
Allow rotated TCP frame
Box backup does not include recordings anymore
Added ability to rate timed out episodes
Fix RTDE-connection error in CoG estimation
Fix slow runtime shutdown
4.7.1 - Elixir |
Release Date: September 7th 2020 |
Fix runtime shutdown issues
Fix bug in the buildsystem responsible for issues in skill creation
4.7.0 - Elixir |
Release Date: August 17th 2020 |
Add feature to compare current policy version to previous one
Add functionality to compare live camera feed to reference image
Improve ETA for policies
Fix for the upload-log functionality
4.6.0 - Elixir |
Release Date: August 21st 2020 |
Support for ATI/Schunk "Gamma" F/T-Sensors
Feature to upgrade box firmware via usb
Box firmware upgrades migrate existing skills
Adjustable guiding sensitivity
Selectable rotation axis (x, y or z)
Support rotations around a displaced TCP
Tool configuration, and wizard for CoG-estimation
Increased guiding speed to max 20cm/s
Live boxes now get custom ssh user passwords
Explanatory Tooltips in MINT
Skill creation now remembers your inputs if something goes wrong
Endstate-threshold setting now 0-1 instead of 0-10
Fixed an issue with the "upload logs" functionality
Fixed an issue with polyscope programs not containing a mirai node
Fixed an issue with polyscope when executing two mirai nodes after each other with visual endstates enabled
4.5.1 - Elixir |
Release Date: June 1st 2020 |
minor fixes for provisioning system
track mirai-version in recorded episode data
4.5.0 - Elixir |
Release Date: May 27th 2020 |
Add action scaling
Add lockable linear axis
Add backup & restore
Add proxy configuration
Add slider to configure endstate threshold
Add functions to get endstate values in polyscope
Add possibility to upgrade boxes via Support VPN
Fix speed issues introduced in 4.3.0
4.4.0 - Elixir |
Release Date: April 20th 2020 |
Add function to upload log to micropsi server
Enable visual endstates for non-rotation skills
Add route to view logfiles on box
Rename android app to "MIRAI Training"
Video compression for episodes (and thus, lower filesize)
4.3.1 - Elixir |
Release Date: March 23rd 2020 |
Remove support for the internal ft sensor on UR e-Series
Fix bug in saving endstate configuration values
4.3.0 - Elixir |
Release Date: March 19th 2020 |
Added
Status of episode uploads in MINT
Information about endstate available to Rapid/Polyscope
Functionality to preload skill in Rapid
Revert skill iteration
Updated wifi passwords
Name resolution to box-wifi (e.g. http://mirai:6543/mint/apk)
Experimental support for the internal ft sensor on UR e-Series
mirai version information in MINT
Fixed
404 response on /mint/apk route
Issue that caused drifting after "go to reference position"
Deadlock issue "database is locked"
4.2.2 - Elixir |
Release Date: February 27th 2020 |
Temporary patch release that disables problematic features
Fixed
issue in remote ssh access feature
4.2.1 - Elixir |
Release Date: February 24th 2020 |
Temporary patch release that disables problematic features
Changed
disable speed endstate threshold per default
Fixed
minor fixes in MINT UI
ur robot movements on network issues
4.2.0 - Elixir |
Release Date: February 21st 2020 |
Temporary patch release that disables problematic features
Added
Support for Remote SSH access via VPN
Cleaned up skill templates
4.0.2 - Elixir |
Release Date: February 19th 2020 |
Temporary patch release that disables problematic features
Fixed
Increase rotation speed
4.0.1 - Elixir |
Release Date: February 19th 2020 |
Temporary patch release that disables problematic features
Fixed
Improve lagging when guiding z-rotation
Removed
Visual endstate configuration (temporary)
x/y rotations (temporary)
Option to displace action frame for TCP-rotations (temporary)
Tool configuration and CoG estimation (temporary)
Revert skill iteration (temporary)
4.0.0 - Elixir |
Release Date: February 4th 2020 |
Added
Support for visual/learned endstates
Support for 3-Axis rotation, with g-compensation
Automatic estimation routine for UR robots to estimate COG and mass of mounted tool
Configurable action frame
Option to displace the action frame for TCP-rotations
Batchwise training schedules for faster policy calculations
Fixed
Moving to reference position doesn't calibrate when it takes longer than 10 seconds, thus causing potential sensor drift.
Changed
Move to new shellscripts configs
Move to new MINT App
3.2.4 - Drif |
Release Date: February 4th 2020 |
Fixed
[ur] Bug where one single skill didn't show up in polyscope
[ur] Bug where mirai-nodes become offline in complex polyscope programs
3.2.3 - Drif |
Release Date: January 20th 2020 |
Fixed
Fixed chopped actions generated by the force thresholding/filtering in g-compensation
3.2.2 - Drif |
Release Date: January 14th 2020 |
Fixed
Fixed a bug where the box was stuck in a "policy calculation in progress" state
3.2.1 - Drif |
Release Date: December 13th 2019 |
Fixed
Fixed bug where the box did not process endstates or timeouts in policy execution
3.2.0 - Drif |
Release Date: December 9th 2019 |
Added
Option to revert a policy update
Calibration during policy testing
ETA for policy training
"About skill" popup to display metadata
Fixed
Fixed starting the same skill in MINT after execution via polyscope
Fixed known issue "Operation via URCap does not recover if you unplug cameras a second time"
3.1.0 - Drif |
Release Date: October 30th 2019 |
Add functionality to preload a skill to mirai urcap
Increase initialization speed of skills
Make provisioning system work outside this office
3.0.0 - Drif |
Release Date: October 2nd 2019 |
Breaking Changes:
With version 3.0.0, we include hard requirements for the UR Polyscope versions. We work with the following versions:
- Polyscope 5.3.0 for UR e-Series robots
- Polyscope 3.9.0 for UR CB3 robots
Added
Add z-rotation
Add compatibility with UR setups using Fieldbus.
Complete support for mirai on ABB platform
Box "beep"s after booting to signal when runtime is ready
Changed
Backend now uses p3.2xlarge instances by default
Change polling crunch backend for policies to 15 minute interval
Fixed
Retry if no ec2 instances are available
Jobapi can recover running jobs on restart
Fix recovery from unplugged devices (optoforce, ximea)
Fix recovery from unplugged robot controllers
Improved error messages on device/robot disconnect
Stop robot from moving when unplugged
Removed
Remove robot collision checks with ground plate
2.2.1 - Crasis |
Release Date: August 12th 2019 |
Fixed
[abb] Fixes for IRB 1200-5/0.9
2.2.0 - Crasis |
Release Date: August 9th 2019 |
Added
API to trigger skill execution from ABB
Fixed
device default settings in MESH
2.1.0 - Crasis |
Release Date: July 24th 2019 |
Added
endstate config option to never trigger for speed and force value
configuration for policy execution timeout
compatibility with new models from future shellscripts releases
urcaps interrupts program on mirai-exception
Removed
feature to rewind the recorded movement
2.0.1 - Crasis |
Release Date: July 8th 2019 |
Fixed
fixed segfault in admin app
fixed polling errors in MINT
fixed multiple loading overlays
fixed dual camera feeds
restored warning before beginning policy execution
2.0.0 - Crasis |
Release Date: July 2nd 2019 |
add UI to configure and test deterministic endstate recognition
add UI to configure and test camera settings (exposure & gain)
add size (700MB) and time limits (90sec) for data recordings
add rotations (not g-compensated yet)
change UI to navigate to index page after skill creation
change runtime to stop if the ur program was stopped
restore access to HTTP services from all subnets
1.1.4 - Blas |
Release Date: June 12th 2019 |
admin API now checks for API tokens
1.1.3 - Blas |
Release Date: June 4th 2019 |
Change IP of mirai controller in robot subnet from .1 to .5 for ABB compatibility
Restrict access to HTTP services on mirai controller to machines within the mirai wifi
Automatically set base_frame attribute in cloud training
Install base system from local mirrored apt repository
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