25.2
Release notes
24.10

24.10 - December 2024

With this festive time of the year, we bring you the latest Wandelbots NOVA release. This version is packed with new features, improvements, and bug fixes. Enjoy! ✨

SAFETY

This release contains safety improvements. We recommend updating to this version.

Robot Pad now features the display of the robot's current safety state, operating mode and an activation toggle.

Safety bar in Robot Pad

Hovering over the displayed symbol provides additional information about the robot's safety state and operating mode via a tooltip.

Find the feature description here.

Safety bar in Robot Pad

What's new?

⚠️

BREAKING CHANGE: TCP MUST BE INDICATED FOR ROBOT MOVEMENTS PLANNED WITH API & WANDELSCRIPT

To execute a robot movement, you must now indicate the TCP in the relevant endpoints, e.g. Plan movement, Add trajectory, and Wandelscript.

  • Indicating the TCP is required regardless of the motion type, Cartesian or Joint movements as cartesian limits have to be respected.
  • For external axis movements, indicating the TCP is not necessary.
  • In previous Wandelbots NOVA versions, the TCP is automatically set to the currently active if not set explicitly.

More information in the updated API documentation.
More information in the updated Wandelscript documentation.

Simulation with ghost teaching

Drag and drop simulated ghost tools in a scene and save their poses in Robot Pad to facilitate writing Wandelscript programs. Available with Omniservice 1.34.0!

More information in the ghost teaching documentation.

and, or, and not operators in Wandelscript

Check out the new logical operators in Wandelscript: and, or, and not. They allow you to combine multiple conditions in a single expression. More information in the operator tables.

Install Wandelbots NOVA CLI with homebrew

You can now install the Wandelbots NOVA CLI tool with homebrew. Find the updated installation instructions in the CLI documentation.

Supported robots

The following physical and virtual robots joined the Wandelbots NOVA family:

Yaskawa

  • AR700
  • GP12
  • GP25-12

FANUC

  • ArcMate 100iD
  • ArcMate 120iD
  • ArcMate 120iD35
  • CR7iA
  • CR7iA/L

KUKA

  • KR 6 R700 Sixx
  • KR 6 R900-2
  • KR 16 R1610-2
  • KR 210 R2700-2
  • KR 210 R3100-2
  • KR 210 R3300-2K

What's better?

Configure data exchanges with OPC-UA

You can now configure data exchange by using the config parameter when subscribing to OPC UA nodes. Subscribing to OPC UA nodes and how to configure the data exchange is explained in the OPC UA section.

Robot Pad

The velocity slider in the Robot Pad now indicates rotational velocity in ω.

Bug fixes

Robot Pad

The displayed tool's coordinate system no longer visually bugs and changes direction when rotating.

Under investigation

NVIDIA Isaac Sim

On Windows, missing .dll files in the pytorch tool package cause issues when using Isaac Sim. Find the workaround in the FAQ.

Wrong responses from Virtual robot > Get I/O

The endpoint Virtual robot > Get I/O currently gives wrong responses. We are investigating the issue. Find the workaround in the FAQ.

Unexpected velocity changes caused by low joint velocity limits

When setting low joint velocity limits on the original robot teach panel, the robot might move with unexpected velocity despite of having indicated a specific velocity via Wandelscript. We are investigating the issue.

Missing input support for KUKA

Wandelbots NOVA only supports the use of outputs with physical KUKA robots, not with inputs.

Technical details

New NVIDIA Isaac Sim & Omniservice version

Wandelbots NOVA 24.10 requires the Omniservice version 1.34.0 for full functionality including ghost teaching. Please remember to download the new Omniservice extension for NVIDIA Isaac Sim from the Developer Portal.

Wandelbots NOVA 24.10 now supports NVIDIA Isaac Sim version 4.2.

Coming soon

Starting in early 2025, Robot Pad will feature a 3D view integration with NVIDIA Isaac Sim, allowing you to view your NVIDIA Isaac Sim scene directly in Robot Pad. In Robot Pad's 3D view, you'll be able to switch between robot virtualization and the simulated scene, powered by WebRTC. Learn more in the video: Robot Programming with Wandelbots NOVA & NVIDIA Isaac Sim (opens in a new tab), in early 2025 Robot Pad will get an integration of the NVIDIA Isaac Sim scene you're using.

Documentation

25.1.1Glossary