...

RPC Changes

• Auto-connect regeneration changes

• Remove collidables

• YAML mode removed

• Backwards compatibility

• [Feature Flag] Runtime mode (only for use by RTR internal users)

• [Feature Flag] Ability to save swept volumes from inspect dialogue (only for use by RTR internal users)

• Auto-connect regeneration changes

• Remove collidables

• YAML mode removed

Backwards compatibility

Optimization Changes

Optimization in RapidPlan 2.6 is intended for RTR internal users only

• User is now warned when leaving the opti dialogue before applying results

• Script is now available to update YAML for optimization by removing

ASCII API Changes

• Added “IsOnTarget” command

• Enabled Planning Moves to be sent to a joint_config, previously user could only do Planning Moves to target/pose