Not exactly. They said "they came to know that some of the bitcoin moving through the service was derived from criminal activity, and they kept marketing and operating the service anyway." [1]
The core issue of the case is that they were helping criminals commit crimes.
If they just made a wallet and didn't know how people were using it, that's a different situation.
FinCEN said they did not require a license, so it seems pretty clear that this is a plea deal. Plead guilty to the lesser charge, even if you are innocent, and end the stress of not knowing your fate. The prosecuters get a basically guaranteed win, the defendents probably get the prosecution to recommend some prison sentence less than the maximum and the judge decides whether to respect that recommendation or not.
I'm not saying I am happy about the outcome, or that I agree that they are in fact guilty of the particular charge they are pleading guilty to; I'm just explaining the case and what developers in the US can learn from this case.
If you are considering making wallet software, please get a lawyer, no matter what country you are in, whether you have control of the funds or not, are offer privacy features, etc. The whole thing is a lightning rod of controversy, seemingly unclear laws, and far too many jurisdictions. Or don't get a lawyer. I'm not the boss of you. ๐
[1] 

Bitcoin Magazine
Samourai Wallet Developers Plead Guilty To Conspiring To Operate An Unlicensed Money Transmitting Business
15 months after being charged with conspiring to commit money laundering and conspiring to operate an unlicensed money transmitting business, the S...