Hello Crew,On September 13, 2021, Robotiq put online version 1.21.1 of the Copilot URCap (UCS-1.21.1). Please go to support.robotiq.com ➜ Browse by product ➜ Force Copilot ➜ Universal Robots ➜ Software ➜ Force Copilot Software ➜ Download Zip. The bugfixes and improvement implemented are shown below:[BUGFIX] When working with two pallets in depalletizing mode, the program will now consider that the second pallet is full instead of empty if the "Validate pallet state at program startup" box is unchecked.[BUGFIX] Corrected an issue with the Palletizing Solution trajectories for Gripper holding a box : the Gripper holding the box will not come into contact with other boxes standing on the conveyor belt, or with the conveyor itself. [IMPROVEMENTS] Improved the general robustness of the palletizing application.Please note this URCap was tested on:PolyScope 3.15.3PolyScope 5.11.1Please contact the Robotiq Support Team at email@example.com should you have questions or comments. Cheers.