From 95d75cefbe1f461b5be7840f44e89682057d9f84 Mon Sep 17 00:00:00 2001
From: visose <vicente@visose.com>
Date: Mon, 12 Dec 2022 23:30:53 +0100
Subject: [PATCH] Update version

---
 Directory.Build.props                            | 2 +-
 RELEASE                                          | 4 ++++
 src/Robots/PostProcessors/FrankxPostProcessor.cs | 5 ++---
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/Directory.Build.props b/Directory.Build.props
index d40983c..14f837b 100644
--- a/Directory.Build.props
+++ b/Directory.Build.props
@@ -2,7 +2,7 @@
 
   <PropertyGroup>
     <Product>Robots</Product>
-    <Version>1.6.1</Version>
+    <Version>1.6.2</Version>
     <Authors>Robots Authors</Authors>
     <Description>Create and simulate ABB, KUKA, UR, and Staubli robot programs.</Description>
     <PackageTags>Robots;ABB;KUKA;UR;Staubli;Robotics</PackageTags>
diff --git a/RELEASE b/RELEASE
index 71300ce..a0c3aa5 100644
--- a/RELEASE
+++ b/RELEASE
@@ -1,3 +1,7 @@
+- version: 1.6.2
+  changes:
+  - Franka Emika fixes
+
 - version: 1.6.1
   changes:
   - Fixed KRL custom external and speeds
diff --git a/src/Robots/PostProcessors/FrankxPostProcessor.cs b/src/Robots/PostProcessors/FrankxPostProcessor.cs
index 4d71d86..f84e743 100644
--- a/src/Robots/PostProcessors/FrankxPostProcessor.cs
+++ b/src/Robots/PostProcessors/FrankxPostProcessor.cs
@@ -42,7 +42,6 @@ def program():
 "
         };
 
-        //robot.set_dynamic_rel(0.2)
         // Attribute declarations
         var attributes = _program.Attributes;
 
@@ -130,11 +129,11 @@ def program():
                     switch (currentMotion)
                     {
                         case Motions.Joint:
-                        //throw new("Joint catesian motions not supported in Franka Emika");
+                            throw new(" Joint catesian motions not supported in Franka Emika");
                         case Motions.Linear:
                             break;
                         default:
-                            throw new NotSupportedException($"Motion {currentMotion} not supported");
+                            throw new NotSupportedException($" Motion {currentMotion} not supported");
                     }
                 }