Hello Crew,On June 17, 2021, Robotiq put online version 1.20.1 of the Copilot URCap (UCS-1.20.1). Please go to support.robotiq.com ➜ Browse by product ➜ Force Copilot ➜ Universal Robots ➜ Software ➜ Force Copilot Software ➜ Download Zip. The improvement implemented is shown below:[IMPROVEMENT] Improve trajectories to avoid conveyor and boxes on conveyor for the Palletizing application. Please note this URCap was tested on:PolyScope 3.15.1PolyScope 5.11.0Please contact the Robotiq Support Team at email@example.com should you have questions or comments. Cheers.