From 97e14e1747e9b77fd65605f7890695309ad08527 Mon Sep 17 00:00:00 2001
From: visose <vicente@visose.com>
Date: Mon, 6 Jan 2025 14:20:41 +0000
Subject: [PATCH] Fix Doosan exception at initialization

---
 Directory.Build.props                            | 2 +-
 RELEASE                                          | 7 +++++++
 src/Robots.Grasshopper/Robots.Grasshopper.csproj | 2 +-
 src/Robots/Mechanisms/Mechanism.cs               | 9 +++++----
 src/Robots/RobotArms/RobotDoosan.cs              | 2 +-
 5 files changed, 15 insertions(+), 7 deletions(-)

diff --git a/Directory.Build.props b/Directory.Build.props
index e792fd6..711b07d 100644
--- a/Directory.Build.props
+++ b/Directory.Build.props
@@ -2,7 +2,7 @@
 
   <PropertyGroup>
     <Product>Robots</Product>
-    <Version>1.8.0</Version>
+    <Version>1.9.0</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 336a17a..35a5fab 100644
--- a/RELEASE
+++ b/RELEASE
@@ -1,3 +1,10 @@
+- version: 1.9.0
+  changes:
+  - Added support for Igus robot.
+  - Changed to use .modx extension on Omnicore controllers.
+  - Fixed digital output declarations in Staubli.
+  - Fixed Doosan exception at initialization.
+
 - version: 1.8.0
   changes:
   - Improved Franka Emika inverse kinematics.
diff --git a/src/Robots.Grasshopper/Robots.Grasshopper.csproj b/src/Robots.Grasshopper/Robots.Grasshopper.csproj
index e5bd05f..6892ed4 100644
--- a/src/Robots.Grasshopper/Robots.Grasshopper.csproj
+++ b/src/Robots.Grasshopper/Robots.Grasshopper.csproj
@@ -8,7 +8,7 @@
     <PackageIcon>iconRhino128.png</PackageIcon>
     <Description>$(Description) This package is for development of Rhino and Grasshopper plug-ins.</Description>
     <PackageTags>$(PackageTags);Rhino;Grasshopper</PackageTags>
-    <Rhino>7</Rhino>
+    <Rhino>8</Rhino>
   </PropertyGroup>
 
   <ItemGroup>
diff --git a/src/Robots/Mechanisms/Mechanism.cs b/src/Robots/Mechanisms/Mechanism.cs
index eb372fd..e03e6fa 100644
--- a/src/Robots/Mechanisms/Mechanism.cs
+++ b/src/Robots/Mechanisms/Mechanism.cs
@@ -28,14 +28,17 @@ internal Mechanism(string model, Manufacturers manufacturer, double payload, Pla
         BasePlane = basePlane;
         BaseMesh = baseMesh;
         MovesRobot = movesRobot;
-        Joints = InitJoints(joints);
+        Joints = joints;
+        InitJoints();
         DisplayMesh = CreateDisplayMesh();
 
         SetStartPlanes();
     }
 
-    Joint[] InitJoints(Joint[] joints)
+    void InitJoints()
     {
+        var joints = Joints;
+
         var alphas = DefaultAlpha ?? new double[joints.Length];
         var thetas = DefaultTheta ?? new double[joints.Length];
         var signs = DefaultSign ?? Enumerable.Repeat(1, joints.Length).ToArray();
@@ -62,8 +65,6 @@ Joint[] InitJoints(Joint[] joints)
             range.MakeIncreasing();
             joint.Range = range;
         }
-
-        return joints;
     }
 
     Mesh CreateDisplayMesh()
diff --git a/src/Robots/RobotArms/RobotDoosan.cs b/src/Robots/RobotArms/RobotDoosan.cs
index f5d9577..bf0f86e 100644
--- a/src/Robots/RobotArms/RobotDoosan.cs
+++ b/src/Robots/RobotArms/RobotDoosan.cs
@@ -7,7 +7,7 @@ namespace Robots;
 public class RobotDoosan : RobotArm
 {
     internal RobotDoosan(string model, double payload, Plane basePlane, Mesh baseMesh, Joint[] joints)
-        : base(model, Manufacturers.UR, payload, basePlane, baseMesh, joints) { }
+        : base(model, Manufacturers.Doosan, payload, basePlane, baseMesh, joints) { }
 
     private protected override MechanismKinematics CreateSolver() => new SphericalWristKinematics(this);