1.8.0

Changes in 1.8.0:

• 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.

This release can only be installed through the package manager in Rhino 7 or Rhino 8 using the _PackageManager command.
Check the readme for more details.

1.7.0

Changes in 1.7.0:

• 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.

This release can only be installed through the package manager in Rhino 7 or Rhino 8 using the _PackageManager command.
Check the readme for more details.

1.6.7

Changes in 1.6.7:

• 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.

This release can only be installed through the package manager in Rhino 7 using the _PackageManager command.
Check the readme for more details.

1.6.6

Changes in 1.6.6:

• Fixed UR pulseDO command
• Fixed KUKA custom external

This release can only be installed through the package manager in Rhino 7 using the _PackageManager command.
Check the readme for more details.

1.6.5

Changes in 1.6.5:

• Added Orocos KDL solver for Franka Emika (Windows only)

This release can only be installed through the package manager in Rhino 7 using the _PackageManager command.
Check the readme for more details.

1.6.4

Changes in 1.6.4:

• Fixes Franka Emika inverse kinematics
• Fixes Staubli robot base can be place at origin in library

This release can only be installed through the package manager in Rhino 7 using the _PackageManager command.
Check the readme for more details.

1.6.3

This release can only be installed through the package manager in Rhino 7 using the _PackageManager command.
Check the readme for more details.

1.6.2

Changes in 1.6.2:

• Franka Emika fixes

This release can only be installed through the package manager in Rhino 7 using the _PackageManager command.
Check the readme for more details.

1.6.1

Changes in 1.6.1:

• Fixed KRL custom external and speeds

This release can only be installed through the package manager in Rhino 7 using the _PackageManager command.
Check the readme for more details.

1.6.0

Changes in 1.6.0:

• 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.

This release can only be installed through the package manager in Rhino 7 using the _PackageManager command.
Check the readme for more details.