-
-
Notifications
You must be signed in to change notification settings - Fork 127
/
RELEASE
186 lines (156 loc) · 6.06 KB
/
RELEASE
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
- version: 1.8.0
changes:
- Improved Franka Emika inverse kinematics.
- Improved singularity and joint range checks.
- Changed Kinematics component tracks previous pose.
- Changed program simulation ends earlier at error.
- Changed Franka remote to call python3 instead of python.
- Changed solution to use new .slnx format.
- Added ability to use alternative post-processors.
- Added support for ABB GoFa.
- version: 1.7.0
changes:
- Fixed RIPEMD160 missing in .NET 7 (Rhino 8).
- Changed target attributes are now compared by value.
- Added cast from integer to Joints parameter.
- Added persistance to Joints parameter.
- Added support for Fanuc (by a third party contributor).
- Added deconstruct Toolpath component.
- Added ability to change folder path for local libraries.
- version: 1.6.7
changes:
- Fixed UR FromPlane wrong units.
- Added remark when Get/FromPlane robot system input disconnected.
- New Speed component with accel inputs and a higher default accel.
- Franka Emika can use the axis accel input for dynamic_rel.
- version: 1.6.6
changes:
- Fixed UR pulseDO command.
- Fixed KUKA custom external.
- version: 1.6.5
changes:
- Added Orocos KDL solver for Franka Emika (Windows only).
- version: 1.6.4
changes:
- Fixed Franka Emika inverse kinematics.
- Fixed Staubli robot base can be place at origin in library.
- version: 1.6.2
changes:
- Fixes for Franka Emika.
- version: 1.6.1
changes:
- Fixed KRL custom external and speeds.
- version: 1.6.0
changes:
- Preview support for Doosan.
- Preview support for Franka Emika.
- New IK for spherical wrist robots.
- Staubli robots with elbow offset are now supported.
- Added Frame and Tool cast to Plane.
- Alpha and theta values can be specified per robot in XML.
- Fixed UR sFTP program folder path.
- version: 1.5.2
changes:
- Fixed bug in KUKA code generation.
- version: 1.5.1
changes:
- Fixed PulseDo command now works with UR.
- version: 1.5.0
changes:
- Added support for reading UR's Real-Time Data Exchange outputs.
- Added a more informative error message when failure to refresh list of robot libraries.
- Updated some icons.
- version: 1.4.1
changes:
- Added Frames to robot library.
- Tools and Frames defined in robot libraries can be set to use the definition stored in the controller, and tool/base number in KUKA.
- version: 1.3.1
changes:
- Added useControllerNumbering attribute to the IO element, allowing to specify the signal number directly instead of defining a list of signal names.
- version: 1.3.0
changes:
- Added alternative back-end to 'Remote connection' with UR, that uses FTP and the dashboard interface.
- Fixed 'Save program' with UR now saves a proper .urp file.
- version: 1.2.0
changes:
- Added new Create Program component with variable targets input.
- Added error message when 3dm library file is not found.
- Fixed regression joint parameter not allowing null or empty.
- version: 1.1.10
changes:
- Added Joints parameter to more components.
- Fixed backwards compatibility with Joints parameter.
- Fixed libraries list icons not updating on Mac.
- version: 1.1.9
changes:
- Added Joints parameter for the joint target input.
- Fixed libraries form UI issues on Mac.
- version: 1.1.8
changes:
- Fixed ABB remote issues with RW 5.x controllers.
- Fixed duplicated code when saving ABB program.
- version: 1.1.7
changes:
- Allow to set first target speed on UR (use 100 mm/s for original speed)
- version: 1.1.6
changes:
- Improved speed approximation of joint motions in UR.
- Organized samples.
- version: 1.1.5
changes:
- Added NuGet packages.
- Fixed compatibility with early Rhino 7.0 service releases.
- version: 1.1.4
changes:
- Added example using Robots in a Unity project (without Rhino.Inside)
- Fixed invalid cast in collision and custom code components.
- Fixed should not appear as supported in Rhino 6 or lower.
- version: 1.1.3
changes:
- Cleaned library files and fixed invalid meshes.
- Improved value list that displays robot libraries.
- Improved some program errors threw exceptions rather than show in error output.
- Fixed custom command component had invalid name.
- version: 1.1.2
changes:
- Robot system names are now case insensitive.
- Fixed error displaying some parameter names.
- Fixed forward kinematics transforms in intermediate joints.
- version: 1.1.1
changes:
- Fixed refresh libraries not working.
- version: 1.1.0
changes:
- Added UI to install robot libraries automatically inside Grasshopper.
- Added validation to names of target attributes and programs.
- Improved behavior of simulation playback controls.
- version: 1.0.4
changes:
- Added icon for create tool component.
- Tweaked placement of components and parameters in toolbar.
- RobotCell and Tool elements can now be placed in the same xml file.
- Tool can optionally specify a centroid in the xml.
- Fixed regression caused by multifile refactor.
- Fixed sample files.
- Fixed robot meshes sometimes loaded from the wrong 3dm file if name was the same.
- Fixed load tool not reading the weight parameter.
- Some performance improvements in loading robots and tools from disk.
- version: 1.0.3
changes:
- Fixed robot system value list not remembering its selection.
- Fixed deprecated warnings from ABB SDK.
- Fixed some xml attributes not read.
- Some performance improvements.
- version: 1.0.2
changes:
- Added warning when multifile input is used with UR.
- Fixed robot system value list didn't update if robot library changed.
- Fixed some custom parameters would show an error when hovering the input.
- Additional cleanup.
- version: 1.0.1
changes:
- This and newer versions will be available only through Yak package manager.
- Large refactor and project restructure, some bugs might have crept in.
- Robot system can be loaded without meshes if not needed for improved performance (API only).
- Fixed rounding PulseDO value to 3 decimal places.
- Fixed unnecessary trailing zeros in generated programs.