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Multi-select in Blockly : Implemented multi-select functionality in Blockly, allowing users to select multiple blocks at once for bulk actions (e.g., delete, move). Multi-select is activated using the “Shift” key.
Unique Program Name Enforcement : Programs must now be saved with unique names to allow or prevent overwriting existing programs.
Fixed : An error preventing PyNiryo dependencies installation during startup.
Fixed : The Retry block was allowing multiple instructions but was only processing the first. Additionally, nested Retry blocks were not functioning correctly.
Fixed : Resolved discrepancies between analog input values displayed in Equipment and Blockly. Both views now show consistent values.
Fixed : When creating a new empty Blockly program, previous code was being saved. This is now fixed to ensure empty programs are saved without old code.
Fixed : The list of programs in “Open Program” was sorted from oldest to newest. It is now fixed to show programs in reverse chronological order.
Support for Ned3 Pro within NiryoStudio.
Integration of Ned3 Pro into the 3D visualization.
Added an emergency stop modal for Ned3 Pro: displaying the robot’s status and logs.
Improved ROS connection.
Enhanced robot connection workflow: definition of a single source for connection information, thereby improving overall communication management with the robots.
Simplified robot search flow for a more intuitive user experience.
Added a reconnection management flow with retry or cancel options.
Fixed an error preventing PyNiryo autocompletion from working within the IDE.
Improved video stream management for the Vision Kit to reduce bandwidth usage when video feedback is not displayed.
Updated Electron and electron-builder to benefit from the latest features and bug fixes.
Fix: The home position button remains disabled when no programs are played.
TCP Profiles: Add custom TCP profile creation, saving, and library access for enhanced TCP management.
New Equipments Support: Add support for conveyor v2 and for vacuum pump v2 (Bundle Discovery).
Library Upgrade: Upgrade Blockly to v11 and fix breaking changes.
While Block: Ensure highlighting is interrupted when a program is stopped.
Saving Issues: Fix an issue where creating a new program from an existing one does not save properly.
LED Block: Add a tooltip that specifies the number of LEDs the robot has.
Blockly Program Saving: Improved handling of Blockly programs that rely on robot-related resources. When disconnecting the robot (e.g., during trajectory usage), NiryoStudio now prompts users to save their programs to prevent data loss.
Robot List: Add robot type badge to available robot list.
Robot Search : Improve robot search process.
Robot Speed: Can now set speed to 0.
Conveyor : Fixing stop/play conveyor updates.
Electromagnet : The electromagnet was not visible in Unity.
Mouse Cursor Color: Fix an issue with mouse cursor color to improve visibility.
Reset TCP : Fix reset TCP, convert m to mm.
Sounds: Fix minor sound issues.
Workspace Issues: Fix various workspace issues including focus and updates in the kit vision card, and manual IP modal robot connection display.
Launching: Fix an issue that allows NiryoStudio to be launched twice on Windows.
Offline Mode: Fix an issue that prevented NiryoStudio from starting in offline mode.
Translations and Bugs: Fix some translations and miscellaneous bugs.
PyNiryo : Support of PyNiryo Librairy directlky in Python IDE.
Camera Profile : Add camera color profile management.
Robot download steps only displayed in English: Fixed the issue where robot download steps were not displayed in French.
Programs – Popup title “Show code” in English: Fixed the translation of the popup title.
Replace Scanner with New scan in My Connected Equipment: Updated the label from “Scanner” to “New scan”.
Position – Capitalize link names: Fixed the link names to be in uppercase.
Block description overflow with 140 characters: Fixed the display issue with block descriptions overflowing.
Sounds – Adjust sound settings when robot is disconnected: Fixed the issue allowing sound adjustments when the robot is disconnected.
Userframe – Workspace – Replace Create new with Create: Updated the workspace creation label.
Update button names in popup: Updated the button names in popups.
Update page recording functionalities: Updated the functionalities on the recording page.
Update translation and add unit to sound duration description: Updated translations and units in sound descriptions.
Guest session : Fixed the issue where the create button activated without entering a date.
Formatting issue with new app version : Fixed formatting issues when updating the app.
Notification message : Fixed the issue with notifications displaying “undefined”.
Connection indicators : Resolved the issue with connection indicators not refreshing.
Manual connection : Fixed the issue where the Enter key validated incorrect IP addresses.
Replace Password placeholder : Updated the password placeholder in the French version.
fix : Fixed the conveyors modbus registers crashing
fix : publish on program_list topic when service update_program is called
Fixed a typo in arm commander stop command service clients which prevented the service from being called during robot shutdown and when using the ROS wrapper
Fixed program player unit tests so that they reflect the entire finite state machine
Fixed Ned3pro calibration tip transform
Fixed a bug in the robot_state publisher which issued a warning when trying to divide by 0
Resolved multiple bugs that were preventing the simulated robot stack from functioning properly
Added missing tool parameters in simulation
Modbus ROS package is not started anymore in simulation mode
Fixed the control loop which is not releasing its lock if the loop frequency is too fast
Fake stepper motors does not require to be calibrated anymore in simulation
Check if a sound file is empty before loading it
The end effector panel still publish the buttons state while calibration is in progress
Fixed a bug which caused the cloud api to not update it’s S/N and rasp_id values when they are updated
Fixed a bug causing the check_connection service to ping the wrong endpoints for the reports micro services
fix: dhcp_server_reachable is more reliable
Fix: use forward_kinematics_v2 in __ros_poses_from_robot_positions
Fix: P changes in DXL’s PID
Fixed a bug while setting acceleration from the /niryo_robot_arm_commander/set_acceleration_factor service, which always set it to 40%
Fixed the conveyors’ direction, which was inverted in the Modbus server
Fixed PoseMetada.from_dict, which wasn’t passing the ‘frame’ argument when using a PoseMetadata.v1
Fixed collision thresholds settings that weren’t correctly calling the setting of the 2nd threshold with the wrong datatype
Fixed a bug in __hotspot_state_callback that still processed the API response even if the request failed
Fixed tools transforms for Ned3 Pro
Fixed a missing offset in the URDF for Ned3 Pro
Fixed a goal tolerance too low for joint 1
Fix: increase remaining_ns_clients_slots instead of decreasing it
Fixed a misuse of Marker instead of Prefix in the S3Client
Fixed type errors in some standard_response calls
UpdateManager no longer bypasses the config_file_manager
Safe deserialization in the SocketIO event
Correct type hint for __auto_control_loop_thread
fix : Fixed the conveyors modbus registers crashing
fix : publish on program_list topic when service update_program is called
Fixed a typo in arm commander stop command service clients which prevented the service from being called during robot shutdown and when using the ROS wrapper
Fixed program player unit tests so that they reflect the entire finite state machine
Fixed Ned3pro calibration tip transform
Fixed a bug in the robot_state publisher which issued a warning when trying to divide by 0
Resolved multiple bugs that were preventing the simulated robot stack from functioning properly
Added missing tool parameters in simulation
Modbus ROS package is not started anymore in simulation mode
Fixed the control loop which is not releasing its lock if the loop frequency is too fast
Fake stepper motors does not require to be calibrated anymore in simulation
Check if a sound file is empty before loading it
The end effector panel still publish the buttons state while calibration is in progress
Fixed a bug which caused the cloud api to not update it’s S/N and rasp_id values when they are updated
Fixed a bug causing the check_connection service to ping the wrong endpoints for the reports micro services
fix: dhcp_server_reachable is more reliable
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niryo_robot_rpi packagePose and JointsPosition classes/niryo_robot_arm_commander/robot_action action server now handles both old and new TCP versions using the tcp_version field in ArmMoveCommand.msgniryo_robot_poses_handlers grip files to align with the new TCP orientationpose_version and tcp_version to NiryoPose.msgJointsPositionJointsPositionMetadataPosePoseMetadataniryo_robot_poses_handlers/transform_functions: convert_legacy_rpy_to_dh_convention() and convert_dh_convention_to_legacy_rpy()ros_wrapper.NiryoRosWrapper that can take either Pose or JointsPosition objects:move, replacing move_joints, move_pose, and move_linear_posejog_shift, replacing jog_joints_shift and jog_pose_shiftpick, replacing pick_from_poseplace, replacing place_from_poseexecute_trajectory, replacing execute_trajectory_from_poses and execute_trajectory_from_poses_and_jointscompute_trajectory, replacing compute_trajectory_from_poses and compute_trajectory_from_poses_and_jointsGET_COLLISION_DETECTED, CLEAR_COLLISION_DETECTED, HANDSHAKE, MOVE, JOG, PICK, PLACE, EXECUTE_TRAJECTORY/niryo_robot/robot_state_v2 for compatibility with older NiryoStudio versions/niryo_robot_poses_handlers/relative_pose_v2 for compatibility with older NiryoStudios/niryo_robot/conveyor/get_hardware_id/niryo_robot_tools_commander/tcp_v2, which publishes the transform from hand_link to the TCP following the new TCP conventionautogpio_expander_adapters classes to handle GPIOs similarly to how MCP IOs are handledNiryoRosWrapper.vision_pick now accepts an optional observation pose (obs_pose)SIGTERM, followed by SIGKILL after 3 seconds if the program doesn’t exit gracefullyNiryoRosWrapper.get_workspace_list to no longer return an error__send_answer_with_payload now encodes the payload only if it’s not already encodedROS spinOnce callniryo_robot_rpi packagePose and JointsPosition classes/niryo_robot_arm_commander/robot_action action server now handles both old and new TCP versions using the tcp_version field in ArmMoveCommand.msgniryo_robot_poses_handlers grip files to align with the new TCP orientationpose_version and tcp_version to NiryoPose.msgJointsPositionJointsPositionMetadataPosePoseMetadataniryo_robot_poses_handlers/transform_functions: convert_legacy_rpy_to_dh_convention() and convert_dh_convention_to_legacy_rpy()ros_wrapper.NiryoRosWrapper that can take either Pose or JointsPosition objects:move, replacing move_joints, move_pose, and move_linear_posejog_shift, replacing jog_joints_shift and jog_pose_shiftpick, replacing pick_from_poseplace, replacing place_from_poseexecute_trajectory, replacing execute_trajectory_from_poses and execute_trajectory_from_poses_and_jointscompute_trajectory, replacing compute_trajectory_from_poses and compute_trajectory_from_poses_and_jointsGET_COLLISION_DETECTED, CLEAR_COLLISION_DETECTED, HANDSHAKE, MOVE, JOG, PICK, PLACE, EXECUTE_TRAJECTORY/niryo_robot/robot_state_v2 for compatibility with older NiryoStudio versions/niryo_robot_poses_handlers/relative_pose_v2 for compatibility with older NiryoStudios/niryo_robot/conveyor/get_hardware_id/niryo_robot_tools_commander/tcp_v2, which publishes the transform from hand_link to the TCP following the new TCP conventionautoUsed the I/O panel version instead of the robot hardware version to differentiate implementations
Created a set of gpio_expander_adapters classes to handle GPIOs similarly to how MCP IOs are handled
Updated the DACx0501 driver
NiryoRosWrapper.vision_pick now accepts an optional observation pose (obs_pose)
Added speed limit percentage for the conveyor
When a tool stops moving, a position-holding command is sent instead of resending the max position command, significantly reducing temperature rise
Updated Dynamixel PID for axes 4 to 6
SIGTERM, followed by SIGKILL after 3 seconds if the program doesn’t exit gracefullyNiryoRosWrapper.get_workspace_list to no longer return an error__send_answer_with_payload now encodes the payload only if it’s not already encodedROS spinOnce call