Changelog

1.9.0

2026-03-05

API

  • Improved error message for errors in URDF files.

  • Stricter validation of URDF files.

  • Improved exception messages.

  • Added argument to the export API log function.

General

  • Significantly improved generation performance for Adaptive part.

  • Significantly reduced memory usage for Adaptive part.

UserConfiguration.yml

  • Merged the lists with static environment and robot URDF filenames.

Visualizer

  • Updated the visualizer theme to match Zivid Studio.

  • Removed collision check feature from the API menu.

1.8.0

2026-02-03

API

  • Added support for setting carried object from a mesh.

  • Added API call for packaging data for API logs.

Visualizer

  • Added a kinematics jogger.

  • Added support for visualizing reference frames.

1.7.0

2026-01-16

General

  • Significantly improved generation performance for attachments.

  • Fixed bug for planning with attachments.

API

  • Fixed doc string error in the Python wrapper.

  • Added missing documentation in the C++ API.

Visualizer

  • Added ground plane grid.

  • Added a new view menu.

1.6.0

2026-01-08

General

  • Significantly reduced memory usage for attachment for certain robots.

  • Improved data generation performance for attachments for certain robots.

UserConfiguration.yml

  • Added the optional field TouchCompliance under Attachment.

API

  • Added the new API call packageDataTag.

  • Added the new API call installPackage.

1.5.0

2025-12-18

General

  • Improved C++ interoperability with Zivid SDK.

  • Improved performance for clear functions in certain situations.

Visualizer

  • Disabled non-blended path trace.

API

  • Supported creating InitialState from Touch.

  • Implemented extraction of joint limits from URDF files.

  • Stopped throwing exception for goals outside joint limits.

  • Added stubs to the Python wheel.

1.4.0

2025-11-14

General

  • Generation performance improvements.

  • Path calculation performance improvements.

  • The visualizer user interface has been improved for better usability.

    • The Api State window will display a list of all API calls made during the session.

    • The mouse navigation has been modified to be similar to Zivid Studio.

UserConfiguration.yml

  • Use Roll, Pitch, Yaw for rotation representation instead of quaternions.

  • Add a “Workspace” field to define the workspace boundaries for the planner.

  • Add an “Attachments” field to define attached objects to the robot.

API

  • Add the new API call SetAttachments.

  • Add the new API call ExportApiLog.

1.3.0

2025-10-22

General

  • Important fixes and improvements

  • Fix for adaptive part height limitations.

RuntimeConfiguration.yml

  • The section name “StateLog” has been changed to the more descriptive name “ApiLog”.

  • The parameter “DumpForEveryPathCall” is replaced by the enum “Trigger”, with the possible values: “Never”, “EveryPathCall”, and “OnException”.

  • See the updated documentation: RuntimeConfiguration.yml

1.2.0

2025-10-7

General

  • Fix for Adaptive part X-/Y-size limitations.

Speed improvements

  • Optimized path calls. Our benchmarks measure 30% speed-up.

Visualizer

  • Goal configs under a request result are now clickable.

1.1.0

2025-08-26

General

  • Fix GPU memory spike above 4GB during generation.

Python

  • Require kwargs for arguments to function calls.

API

  • Add function to compute inverse kinematics.

  • Add the class “InitialState” to the planner API. This class replaces the previous method for specifying the initial state for a path call.

  • Unify overloads of the “path” function. There is now only one function named “path”. The functionality of the old overloads is now offered by using the new function to compute inverse kinematics and the “InitialState” class.

URDF

  • Support setting colors for STL files using the <material> tag.

  • Support multiple <visual> tags per <link> tag.