Release Notes: Studio 1.7.2 and before
1.7.2 - 2022-01-14
Added
Translations feature for FBs
Toggle between LIN/PTP for move to position
Confirm dialog when deleting object in the Scenario Designer
Overlay for Operator Panel button when a parameter view is opened
Display execution state in running/paused
Multi core support for backend
Available options for selects to param store
Changed
Orthographic camera added zoom and better resizing to prevent distortion
Scenario Designer objects IDs are changeable now
Programs with incomplete subprograms (missing dependencies) can now be exported in incomplete state
Faster execution of programs sent to executor by reducing fields to read
Fixed
Renaming objects in Scenario Designer cursor jumps
Setting object to visible in Scenario Designer when editing
Not resetting opacity when edit object is cancelled
Builder: TCP warning disappear and appear correctly
Builder: Better usability for small screens e.g. for parallel block, introducing more scroll bars in builder
Layout for Firefox in the palletizing wizard
Operator Cockpit: When several grids are available only the first grid can be modified in the Grid Widget
Operator Cockpit: When having several grid IDs only the first grid ID is shown correctly
1.7.1 - 2021-12-01
Fixed
Scenario Designer: Fixed robot change when clicking cancel button
Scenario Designer: When spawning object (CAD or primitive) the object cannot be moved
1.7.0 - 2021-11-09
Added
Visualization: Toggle orthographic camera view
Visualization: Option to hide grid
Scenario Designer: Transparency value to new scenario objects
Datastore: A wizard to pick from existing or create new items
Builder: Logical color in switches
Option to apply move-to-position when it differs from robot position
Note when component configuration did not finish for more than one minute
Operator-Cockpit debug-mode to show used parameter values after execution
Warning in camera panel when vision module is not installed
Parameter Store: Added deg/s to speed type parameter
Changed
Visualization is also shown when no robot is installed
Scenario Designer: Scaling interactive markers on zoom
Builder: Condition else is collapsed if it has no content
Builder: BG color of skills with control flow
Operator panel: Saves tab selection to session and restores on open
Increased degree digits by 2
Trajectory Wizard: Displaying when add to waypoint queue param is linked
IO Wizard: Shows value of selected IO and allows to toggle if possible
Moved add buttons to lower right in some screens
Fixed
Homescreen robotsystem widget when no robot is installed
Palletizing guide grid position instructions for 1d pallets
Palletizing wizard animation
Scenario-Designer checks Robot-Kit availability to avoid race conditions
Trajectory Wizard: Pasting waypoints will also update names in waypoint list
Trajectory Wizard: Chaning waypoint names in trajectory wizard opened from param view
Vision module warning for Basler camera and when vision module is deactivated
Digital IOs: Wrong io interface issue, reinitializing if oldIOs are set
Database: Save performance issues for nested programs
1.6.0 - 2021-09-10
Added
Password recovery
Detailed validation error feedback
Bigger operators panel
Added toggle to move camera with left mouse button
Grid status panel: added deactivated status and added set layer button
Grid wizard and guide: better UX
Scenario Designer: added menu to switch swap interaction marker orientation
Scenario Designer: added alpha slide
Scenario Designer: Added grid in 3D visualization
Scenario Designer: Added collada exporter for the whole 3D scenario
Changed
Removed scenario export reminder for online simulation
Custom options are not breaking anymore
Fixed
Missing descriptions for Robot Kit elements
Operators Panel timeout for Nachi move start
Edit 3D object attach range reset when cancel
Round values for interactive markers
Better Robot Kit element loading
Move to position for null values
1.5.2 - 2021-08-11
Added
Grid Manager Wizard: Added possibility to select layer strategy top-down/bottom-up
Scenario Designer: Added object interactive markers
Changed
FB Interface: Changing type from primitive to select and the other way around is not an breaking interface change anymore
Fixed
Improved Cloud start and connection robustness on connect
1.5.1 - 2021-07-23
Added
Logout page
Visualization when editing TCPs
Scenario Designer: Hide/Show objects
Scenario Designer: Request a quote and talk to a robot expert from the SIMULATION
Added custom option autofill for primitive parameters
Fixed
Scenario Designer: Add object button only enabled when object selected
Control Panel: Executor running now disabled all buttons
Cloud: When starting a simulation, it sometimes needed a manual refresh to appear on high server load
Grid-Manager: Grid status panel with linked grids did not appear
Changed
No speed warning for robot simulator
1.5.0 - 2021-06-28
Added
Robot-Kit configurator in the Scenario Designer: A library of automation parts for the drag&bot Robot-Kit
Robot-Kit: Request a quote from withing the Scenario Designer
When using Sim-Code show a Scenario widget in the home screen
On login autostart robotsystem with a simulation
OAuth login for Hoffmann Group
Teach-Mode status led to robot header bar in yellow
Grid-Manager: OK and NOK states
Parameter view: An input string box with possible option list
Fixed
Refreshing mesh server after adding object to the scenario
Retrying scenario manager initialize several times before showing fail result
Custom URL Panel: Remember decision checkbox
Slide toggles are now clickable
Always call /stop_robot service when heartbeat is triggered
Error message when creating a user with existing e-mail address
Changed
Operator Cockpit: Shows a program progress when started externally e.g. from PLC
Ignoring 'in error' values when robot is in teach mode
Scenario Designer: On adding new object and clicking cancel, the object will be deleted
Camera center in visualization now shows full robot cell on start
Moved scenario designer to have its own menu entry
Minor translation changes
Throttling of robot status messages
1.4.1 - 2021-05-26
Added
Units and joints to parameter store
Fixed
Robot status update in header when changing between error and running
Operator-Cockpit and Builder now changes navigation without blocking until program is loaded or compiled
Move-to-joints now fully arrives at given position
Move to: On abort the robot does not continue a movement in certain cases
Backend: Joints param store entry
1.4.0 - 2021-05-18
Added
Operator-Cockpit: A grid manager panel to set the status of single cells in a grid
Grid Wizard: Recreating three points based on grid and dimensions to enable possible corrections
File manager: Added file size info and the option to set file size warnings
Scenario export reminder tour for sim users
Datastore: Type to add poses and joints
Fixed
Move-to-joint pose when using SCARA robots
Zimmer gripper wizard round slider
'Select all' in program library
Builder-code-editor from overflowing
Operator Cockpit: Only shows one dialog with the goal restore warning at the same time
Login for operators
Set output parameters
Joint sliders in operator panel
Changed
Progressbar styling for step wizard
Operator Cockpit: speed slider enabled when no program selected
1.3.2 - 2021-04-13
Added
Unsaved data warning/confirmation to param view when leaving with data change
Migration dialog for Sim-Code users
GridID to Grid-Manager wizard
Filesize warning in Scenario Designer for filesizes bigger than 10 MB
Error message when loading invalid function blocks in a program
Changed
Fully migration to Angular8+
Minor improvements in the Linking Dialog when connecting inputs or outputs
Fixed
Changing function block version numbers inside a program
Human Interaction Dialog increased z-index in Operator Cockpit
Grid Panel in Operator-Cockpit for palletzing postion producer
Builder: Reloading .json on save
TCP import
Custom Wizard: Styling of the next button
Robot-Status header when restarting the system
Three point wizard calculation when only working with two positions
Removed
1.3.1 - 2021-03-26
Fixed
Improved performance when grid visualization in 3D environment
1.3.0 - 2021-02-24
Added
QAP-Editor now supports 4 axes robots
Controlpanel setting to show dnb_tool_frame marker in all tabs
Warning for scenario objects with a shared model
QAP-Editor: Added explanation when no QAPs exist
Installed programs tabs in robot system
TCP switch to controlpanel
Changed
Resetting objects when opening scenario designer
Migration of a part to the Angular technology
Adapted for smaller screens
Interactive marker does now keep the same size independent of the zoom level. Can be configured in the profile page.
Localize wizard: Better feedback when execution fails
Deploy on robotsystem is only possible for released programs
ToolManager shows orientation in degrees
Fixed
Trajectroy Wizard: Add missing link tooltips
Small image stream
QAP endless loading spinner
Refreshing IOs when new robot is installed or robot config is changed
Virtual pres are always saved when clicking save and run
IO panel reload fix
IO Manager pin status update fix
Fixed move to joint bugs
QAP button precondition error
White chrome autofill background
Removed
Offline Runview (as it is now replaced by 'Installed Programs' in Robotsystem)
1.2.3 - 2021-01-27
Added
Callback to IO polling to update view after model updates
Tool manager: Implement import and export to file function
File Manager: Added preview for selected images
Improvements to palletizing wizard
Runview: show error message within program flow
Changed
Password rules are more strict now to increase account security
Increased notify republish viz markers delay
Scene is now resetted when opening Scenario Designer to avoid moveable object save
Robot system: rearranged tab order
Increased size of saved programs in database
Fixed
File Manager: Fixed for filenames containg numbers
File Manager: File path wizard: fix for empty parameters
Loading Viz spinner when robot is changed
MoveToPosition in Controlpanel and TrajectoryWizard works with 4 axes robots now
Toast for indentation and syntax error
Size of camera image in operator panel now adapts to viewport size
Builder: fix skill outline for zoomed view
Runview: fix force chart freeze
1.2.2 - 2020-10-30
Added
Move-to-position marker in Operator Panel
Joints: Add limit validation to Quick Access: Poses editor and move to position
Loading feedback when objects of simulation not fully loaded
Library: reset button, to delete pre version of a skill
Changed
Operator Cockpit: Add multiple camera image widgets to dashboard and save last selected topic
Visualized splines are now colored based on the movement type of the end waypoint
Fixed
Opening Operator Panel from Trajectory Wizard with a relative waypoint does now always pass in the pose in world coordinate system
Intrinsic camera calibration:componentTypeMatcher error
1.2.1 - 2020-10-14 Cloud ONLY
Added
Visualization option to populate the area surrounding the tcp with objects for the reachability
Guided Tour as an easier onboarding experience for Homescreen, Builder, Operator-Cockpit, Trajectory Wizard and Operators Panel. See the progress of your tours on the help page
A wizard for the Move Joints function block
Quick Access: Moves Editor in the robot system. Define a trajectory with precondition visually
Reminder to export scenario for cloud version
Settings: Edit personal settings and application settings
Trajectory Wizard: Preview waypoint when dragging robot in control panel
Mouse controls explained in visualization on first login
Control Panel: Show hint if user clicks arrow more than once without holding
Library: Checker for updatable programs
Changed
Joints movement in Operators Panel is now a dragable slider
SmartCameras how now a webview port option to show the interface
Scenario is now only saved when adding, editing or removing objects
IOPanel: text wraps, io boxes use full width of surrounding container for a better view
Reset objects button does only reset moveable objects
Show the component title in function block library instead of the type ending
Cleaned up coordinate systems in visualization
Colors of the direction arrows in the Control Panel
Nested Builder: show warning when leaving without saving
Fixed
Operators Cockpit: Allow to loop a function block when executed without a program
Allow errorcodes with number thrown by function blocks
References in a linked parent input parameter is now deleted when coming from a function block
Builder: Changing the interface on a released block does now increase major version
Resizing an imported dae object in Scenario Designer does not disappear object anymore
Runview: fix component error message
1.2.0 - 2020-09-07
Added
Scenario Designer: A new feature to quickly import and adjust your CAD scene in the robot environment. Use STL oder DAE files.
Scenario Designer tab added in the Robotsystem
Changed
Operator Cockpit: Moved panel "Robot Position" inside the Scenario Designer
Fixed
TCP warning for TCPs with more than 4 decimals
1.1.9 - 2020-08-17
Added
Basic visualization of waypoints and trajectories
Visualization of blending in trajectories
Operator Cockpit: Loading program selector now saves order
IO Panel is responsive and shows dropdown for small screens
Changed
IO Panel does now display Outputs first as actionable panel
Robotsystem switched from list to view of active robotsystem with homescreen
Robotsystem are now shared with the whole team on creation
Redesigned robotsystem navigation and added tabs
Component-Manager: Components can now be added by single click
Sharing dialog in robotsystem updated with share-to-all feature
User rights for technician update: Component-Manager, FB updates and FB removals are possible
Visualization is turned on when using drag&bot the first time
Trajectory-Wizard: Values are directly editable
Operator cockpit: Does not show items when no connection to a robot system is available
Fixed
File-Manager: Handles special characters in filenames for robust functionality
Start-sim dialog is not duplicated when force-started before popup
Display text when no tcp does match in Operator Cockpit
Control panel wizard can be used with 'Move Joints - 7 Axes'
Spinner after updating component config not stopping in certain cases
1.1.8 - 2020-07-24
Added
Precondition for Waypoint Queue implemented. Showing toggle when available
Add message for starting cloud simulation
Changed
IO Wizard downward compatibility with old IO system
IO Wizard display titles can be set to empty string
Improved icons in controlpanel for better understanding
Speedslider and reset sim service availability is checked multiple times instead of once for robust displaying when reloading view
Fixed
Runview: fix camera panel overflow
Runview: Robotsystem connection issue on reload.
Direct development execution of older function blocks lead to duplicates
Datastore v2: Items now disappear after deleting
Control panel: Overflow for joint movement
Initializing sliders for Robotiq gripper in gripper control according to the gripper size parameter
Parameter editor for programs with utputs only
1.1.7 - 2020-07-03
Added
Prepared functionality to modify a world coordinate to robot coordinate transformation
Visualization does now support STL models
Custom wizard: Progressbar for pages was added
Changed
Controlpanel moves are disabled when robot in error
Library: Performance improvements and styling changes of tabs
Fixed
Mouseleave does not cancel move-to-position when started by touchevent
Robot header bar reload when simulation was started
Updating robotsystem now works again especially for sim-code
1.1.6 - 2020-06-18
Changed
Runview: Grid-Manager reset function does not delete items anymore but sets them to an empty value
Fixed
Fixed advanced trajectories in palletizing guide
Fixed layering of dialogs when opening Trajectory Wizard from Palletizing Guide/Wizard
1.1.5 - 2020-06-12
Added
Control Panel: Add color mapping to move-to functionality values
Parameter View: Allowed copy paste of list and matrix parameters
Changed
Increased scrollbar sizes for easier access
Programs can now be saved TCP independently which will disable unwanted warnings
Fixed
Grid Manager: Fix for new datastore and new grid function blocks
Runview: Overlapping status and TCP selection field
Runview: Fix UR-Pause option
1.1.4 - 2020-06-05
Added
Runview v2: Customized dashboards can now added and managed for every user role.
KPI and Interaction Panel for the Runview. Select which group from the datastore to show and visualize booleans as buttons .
Datastore v2: A new look for the datastore with more options like groups and operator edit option
Quick Programs: Deploy and use drag&bot Programs as buttons in the Runview or the operator panel
Robotsystem: Added selection between ws:// and wss:// protocol
Robotsystem: Select between SIM-Codes or IP in the cloud version
Start a simulation added by a SIM-Codes from within drag&bot in the cloud version
System can now by restarted from within the component-manager view
Dialog in move-to buttons when speed >50%
Allow opening and editing subprograms from within a program in the builder
Changed
Datastore polling reduced from 100ms to 1sec
Help site is now available offline for the local version
Library: Keeps the sorting of a table when set by user
More verbose output in the notification area for console logs of the dnb-runtime
Extrinisc calibration: Calibration name is now required shown in success view
Disabled intrinsic calibration for component without a intrinsic_calibration_name config.
CAD upload: upload directly after file select and show loading spinner
Always refresh robot model after component update
Quick Poses and Quick Programs disabled on executor running
Fixed
Flexbox overflow for Parameter View
Runview: Fixed memory leak for datastore view
Builder: Refresh function block library after applying function block updates
Builder: When creating new input/output/local parameter it is not possible to create duplicate title anymore
Wizard Designer: When a wizard exists new parameters will be automatically applied when created
Interactive markers not initializing correctly under certain conditions
1.1.3 - 2020-04-15
Added
Possibility to open upload dialog in the component-manager to upload a CAD model
Wizard Designer: A view to create Customs Wizards in the parameter-view of the builder
Component parameter fields: Added hide and read-only
Home and library widget: tooltip does now contain type of last interaction
Wizard Designer: Added possibility to upload images from local system or URL
Changed
Home view dashboard showing mix of recently executed and modified programs
Disable Quick access pose button when already at given position
Quick access pose button will force stop on error
Move to position: Is now an overlay of the visualization including explanation for usage
Development: Not allowing whitespaces in error codes anymore
Fixed
Calibration link during extrinsic calibration process
Move to position button does not show robot controller when button is released by user
Layout style fix for parameter view now user can see speed and acceleration values
Minor german translation fixes
Trajectory Wizard: When changing speed type the unit is now checked for proper string
1.1.2 - 2020-03-18
Added
Adding a block with the plus sign in builder will scroll to the position of appearence
Control panel: add labels to orientation values
Library: add button to open function block library from component manager
Library: Show possible actions if list is empty
Theming builds possibility
Backend: Local settings especially for drag&bot local CORS settings
Support of having joints with m or mm unit
Changed
Empty local config for getting dynamic IP of window for BE lookup
Disable contextmenu on draggable skill item
Page refresh on logout to refresh all items
Clipboard: cleanup if skills are no longer available
Builder: manage labels button is now always visible
Builder: Warning if no ros connection
Added viz settings for resolution and framerate
QAPs: Show warnings if QAPs defined with a different TCP
More digits for joints in controlpanel when joints are in m
Fixed
Fixed Save&Run doubleclick in Builder leads to undefined state
Fix robot visualization when URDF parameter is unset
Fix to reenable custom URDFs
Meshes can now be received when websocket hosted remotely
Fixed reordering of input parameters
v1.1.1 - 2020-02-28
Added
Option to select all available programs
Changed
Select checkbox in library only toggles current viewed page
Builder: Refresh json view after save
Control panel: Bigger size of the modal window
Z-index to avoid having datastore above user interaction
Fixed
Operator can now use operators panel
Switching from Runview to builder before program is loaded from be does not result in broken builder anymore
Removed
Export: removed version string from export file name
v1.1.0 - 2020-02-21
Added
Showing linked badges when values in palletizing wizard are linked
Loading meshes of robots from components if available
Palletizing Guide is now able to generate programs to put back parts into grid
Clipboard for programs: It is now possible to copy whole function blocks or programs
URDF client for cell model
Move-To-Position option for joint movements
Quick Access Poses: Movement in joints
Function block updates are now shown as a status bar icon and can be imported on demand
Quick Access Poses: Added units in tooltips
Component manager: float as party of a component type
Support for Firefox browsers
Intrinsic calibration wizard for a graphical way of calibrating cameras
Connection timeout to show robot system as unavailable after a specific time trying to connect without success
Zoom buttons for the visualization in control panel
Changed
Component-Manager not waiting for node to run when reconfiguring deactivated component
Create user: email required, better error messages
Disabling interactive marker, quick access poses and move to functions when program running on executor
Builder: Don't allow copying of blocks with missing dependencies or wrong interfaces
Function block import library: Reload tab data on tab open
Palletizing guide does now use the latest version of move and loop as default block
Technician can import programs/basics
Exporting deactivated function blocks or programs is now possible.
Fixed
Pick position in palletizing is not shown as linked when only linked to grid frame
Disconnecting from URL when robot system was deleted and no other robot system for the same URL does exist
Added better translation and better overall tooltips for Basler wizard
Z-Index of modal of wizards
Increased performance in home screen
Runview: fix styling of disabled control blocks
Runview: show warning if input parameters are not set
Builder: Better user feedback when missing a program dependency
Runview: fix status when clicking play shortly after stop
General translation fixes in the German language.
Removed
Several parameters from Basler wizard which did not completely work
2020-01-24
Added
Disabling of robot visualization now possible when using low performance hardware
Changed
Renaming pick/approach button of palletizing position producer for better understanding, instead of new param
Fixed
Builder: show release and save as new option after first save
Builder: do not allow dragging a control block inside itself
Linking: allow output linking to parent output child
Trajectory wizard: fix styling
Calculating of simple trajectory
Memory leak when showing palletizing positions in 3D visualization
Control panel buttons now fluently move the robot when near target position of move to position button
Layer z-index of dialogs sometimes were hidden
2020-01-14
Added
Indicator when error flow is available
A title of a program can now be set by clicking Save or Save&Run button directly
Yaskawa meshes for visualization
Favorites can now be sorted
Changed
Builder: The function blocks available are now placed in tabs for better visibility on small screens
Information of a program now in full screen for better readability
Runview: program picker based on library table
Palletizing guide: program picker based on library table, and align mat dialogs
Fixed
Waiting for function blocks load to complete before showing in function block import library
Component Manager: dont show robot selector while robot is loading.
Login button not enabled when saved credentials on page load
Python editor does now scroll correctly
Layer order of control-panel when used for parametrize
Increased performance significantly of loading and saving programs
Increased performance of builder tools e.g. ParamView
Trajectory wizard can now be used for advanced mode of palletizing guide
Copy paste does now also copy internal links of a function block
Styling of Runview tree
2019-12-04
Added
Visualization reset if new robot is added
Added toggle to switch between raw and rect image in Basler tab if rectified image available
Added wizard for dynamic computer vision parameters and live view of results
Changed
Digital IO styling
Edit profile style
Login page form
Fixed
Fixed handling of result image from CV
Extrinsic calibration selecting correct image topic if available
Extrinsic calibration text
Baslerwizard: preventing value changes while service call is active
Closing run panel
Image stream now works more robust and restores image size for user settings
2019-11-14
Added
Added ability to deactivate components in the component-manager (runtime bundle version > 1.4.1)
Copy/Paste feedback with pulse
Button to hide interactive markers in the visualization
ABB IRB2600 model
Changed
More digits for robot poses with 0.001mm accuracy
Fixed
Joint view of control panel
Parameter view overflow when big palletizing matrix
Icon in function block library for datastore and condition
2019-10-28
Added
Grid Manager for visualization of machine tending applications and palletizing applications
Semantic versioning for better control of application states and handling of function block development (More information )
Basler wizard: ROI, tool tips,...
Include angular material theme to library view
Pagination in the library view
Labeling: Large program lists can now be comfortably managed with a labeling system. Function blocks and programs can now be part of one or multiple labels. A quick access bar next to the search bar allows a fast view of the labeled programs.
Favorites: Quickly add favorites which are displayed more prominent inside the builder.
Better feedback after deploying program to a robot system with a link to the offline Runview if available
Loading spinner to deploy
Implement touch for move-to-position button
Improve control panel stability for touch
Parameters of programs or function blocks can be reordered and renamed
Interactive Markers: Use arrows mounted inside the visualization of the robot for dragging the robot and moving it.
Quick Access Poses for predefined poses by the user in the control panel tab
Visualization for gripper wizard for robot simulator
Resizing of camera image in Runview
Added KUKA models
Changed
Reworked saved button in the builder
Adapted library view for versioning
Reworked palletizing guide to support more patterns. Hexagonal patterns are also supported now. Approach and retreat trajectories can now be teached more detailed. Palletizing position producer is now working based on a position input calculated by 3 positions for more accuracy.
Reworked filtering system with Angular components
Initially display all available dataTypes in add parameters dropdown for a program or function block
Adjusted FANUC robot models
Adjusted ABB robot meshes and URDF
Fixed
Catch exception when no ROS is setted up
Multi-select with delete now works as expected
Execution timer flickering between robot systems
Runview: Correctly removing active block marker if program is stopped during errorflow execution
Runview: Now refreshes viz when changing robot system
Trajectory Wizard: Clicking add waypoint does now work when in variables view
Multiple function blocks with the same identifier in component the function block library view
Indent and syntax error toast when executing basic blocks
Searchbar case-sensitivity
Removed
Make local button from skill actions as it does decrease the performance significantly
2019-07-12
Added
Pause is pausing robots with pause flag
Datastore GUI can now be used to change data entries
Threepoint wizard can be used to get accurate planes
Function blocks can be filtered in builder by tags (robot, control, gripper, ...)
Function library can now be used as a central point for importing function blocks
New FNBs are auto-updated with bundle update
Switch cases are now possible
Quick assign current pose in trajectory wizard
Wizard can be used for parent inputs/outputs
Checking which tool is used for a program and warn user if different from initial
Palletizing with direction arrows in wizard/guide
More skill icons in builder
Robot system in header bar with more information about the status of the connection to the robot or runtime
Linking View has now access to values inside a function block itself.
Exporting programs have now naming connection with version tag
Wizard from ROS modules can now be imported into Studio
Deleting old unused skills on update of FNBs automatically
Changed
Line width increased for visualization of coordinate system
On Save program the UI is blocking interaction
Fixed
Component Manager fixed where no reaction when changes are triggered
ROS Groovy Compatibility mode switched to false
Switch Cases can be named now
ParamView fixed responsiveness
Can not overwrite skills from components anymore
Tool editing is now possible again
Close dataflow view on second click on the icon
Default skill icons changed for FNBs
Styling in paramview for better readability
Dataflow redraw bug
Removed
Removed: Settings, coordinate systems (transformations) and payments.