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• Added “IsOnTarget” command

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

• Added roadmap_mode parameter for “shortest move” feature

• Added support for motion recording commands

• Added support for Routes

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• License changes

• Routes at runtime

• Enable planning moves to config

• [Feature flag] Runtime mode

Motion Planning Changes

• Added movement mode parameter “roadmap_mode” for users to define how roadmap moves to pose or joint config should use the roadmap to prioritize either shortest paths or minimizing off-roadmap moves

Optimization Changes

Optimization in RapidPlan 2.6 is intended for RTR internal users only

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