---
title: Changelog
slug: api/fb10-changelog
docTags: 
createdAt: 2026-03-26T10:20:40.824Z
---

:::Changelog{title="ci-archbee Release"}
::ChangelogItem{type="added" description="Add `reference_point` config to the planar multi-pick planner for prioritizing groups based on distance to a 3d reference point."}

::ChangelogItem{type="improved" description="Make sure that grouping behavior is deterministic by removing HashMap of contact surfaces."}
:::

:::Changelog{title="2026-03-19 Release"}
::ChangelogItem{type="added" description="Add `fizyr_layer_only` flag to the multi pick planner config for ignoring groups on lower layers."}

::ChangelogItem{type="added" description="Add `mask_match_score_thresholds` config fields to the multi pick planner for converting mask match scores to pick plan qualities."}

::ChangelogItem{type="improved" description="Bump to `fizyr-vision-utils` `v0.28.1` to fix NaN handling in `ObjectDetection3d`."}

::ChangelogItem{type="improved" description="Bump to `fizyr-point-cloud` `v0.6.6` to fix voxel grid parameters."}
:::

:::Changelog{title="2026-03-16 Release"}
::ChangelogItem{type="added" description="Log group priority along with group members in the cycle logs."}

::ChangelogItem{type="improved" description="Refactor mask-match standalone."}

::ChangelogItem{type="fixed" description="Fix multi-pick planner group density-based sorting."}
:::

:::Changelog{title="2026-03-12 Release"}
::ChangelogItem{type="added" description="Implement `list_pick_cycles()` service."}

::ChangelogItem{type="added" description="Add optional `CollisionCheckConfig::parallel_collision_check_buffer_size` parameter to control the buffer size of the collision check priority queue."}

::ChangelogItem{type="added" description="Add `list_pick_cycles()` request."}

::ChangelogItem{type="improved" description="Ensure the planar-multi-pick planner's group sorting is based on the centroid of the extracted contact surfaces and not on the centroid of the full detection."}

::ChangelogItem{type="improved" description="Update API to v2.99.5"}

::ChangelogItem{type="improved" description="Change the priority queue to use `buffered` for collision checks rather than spawning them all at once."}

::ChangelogItem{type="improved" description="Renumber and re-order services: cycle management services from ID `1000`, services to get processing results from ID `1020`."}
:::

:::Changelog{title="2026-03-06 Release"}
::ChangelogItem{type="added" description="Log `get_object_info3` response."}

::ChangelogItem{type="fixed" description="Ignore NaN points in PCA-based pose estimation of detections."}
:::

:::Changelog{title="2026-03-05 Release"}
::ChangelogItem{type="added" description="Add `rotation_format` field to `get_object_info3` request."}

::ChangelogItem{type="improved" description="Update API to v2.99.4"}

::ChangelogItem{type="fixed" description="Bump API version to 2.99.4."}
:::

:::Changelog{title="2026-03-04 Release"}
::ChangelogItem{type="added" description="Implement the `get_object_info3` service."}

::ChangelogItem{type="improved" description="Support interface 2.99.5."}

::ChangelogItem{type="improved" description="Support interface 2.99.3."}

::ChangelogItem{type="fixed" description="Improve detection latency by reordering camera client requests."}
:::

:::Changelog{title="2026-03-02 Release"}
::ChangelogItem{type="added" description="Add `get_object_info3` service."}

::ChangelogItem{type="added" description="Add `class_scores_by_id` to `get_object_info2` service."}

::ChangelogItem{type="added" description="Add `class_scores_by_name` to `get_object_info2` service."}

::ChangelogItem{type="improved" description="Rename `get_objects` service to `get_object_info2`."}

::ChangelogItem{type="improved" description="Rename `check_empty_container` service to `check_container_empty`."}

::ChangelogItem{type="improved" description="Rename the response field of `check_container_empty` from `empty` to `is_empty`."}

::ChangelogItem{type="improved" description="Adjust service IDs."}

::ChangelogItem{type="improved" description="Update API to v2.99.3"}
:::

:::Changelog{title="2026-02-24 Release"}
::ChangelogItem{type="improved" description="Significantly improve collision check times."}

::ChangelogItem{type="improved" description="Significantly improve collision check speed by remove an unused variable."}

::ChangelogItem{type="improved" description="Speed up collision check by moving computation of `target_indices_downsampled` from `CollisionBody` to `CollisionModel` and use better structure to query relevant indices."}
:::

:::Changelog{title="2026-02-20 Release"}
::ChangelogItem{type="improved" description="Consider the pick layer when prioritizing multipick groups."}

::ChangelogItem{type="fixed" description="Fix collision check performance issue."}
:::

:::Changelog{title="2026-02-19 Release"}
::ChangelogItem{type="improved" description="Standardize tag requirements for user input."}
:::

:::Changelog{title="2026-02-17 Release"}
::ChangelogItem{type="improved" description="Include `object-density` as a metric for prioritizing groups for `mask-match`."}

::ChangelogItem{type="improved" description="Implement `From<()> for Empty`."}

::ChangelogItem{type="fixed" description="Correctly filter out pick planners that use the wrong gripper (if the user sent a `gripper_id`)."}
:::

:::Changelog{title="2026-01-30 Release"}
::ChangelogItem{type="added" description="Add validation step for `MaskMatchConfig` which normalizes `PerObjectScoreWeights`."}

::ChangelogItem{type="added" description="Add `gripper_powerset_batch_size` to mask match config."}

::ChangelogItem{type="improved" description="Make `max_pick_direction_adjustment` an `f32` instead of an `Option<f32>` (defaulting to 0.0)."}

::ChangelogItem{type="improved" description="Use euclidean distance(s) for scoring (mask-match)."}

::ChangelogItem{type="improved" description="Batch the gripper's powerset computations of Mask Match."}

::ChangelogItem{type="improved" description="Apply pick direction adjustment to multipick groups."}
:::

:::Changelog{title="2026-01-23 Release"}
::ChangelogItem{type="improved" description="Raise an error if the user sends an invalid region of interest id."}

::ChangelogItem{type="improved" description="Use `u32` instead of `f32` for regions of interest."}

::ChangelogItem{type="improved" description="Change multi-pick group filtering and remove subsets from consideration."}
:::

:::Changelog{title="2026-01-19 Release"}
::ChangelogItem{type="added" description="Additional logging."}

::ChangelogItem{type="improved" description="Bump `fizyr-kinematics` to `v0.2.1`."}

::ChangelogItem{type="fixed" description="Fix gripper collision model."}

::ChangelogItem{type="fixed" description="Fix unit test."}

::ChangelogItem{type="added" description="Remove incorrect `CollisionModel::from_kinematic_chain`."}
:::

:::Changelog{title="2026-01-16 Release"}
::ChangelogItem{type="added" description="Warn users that don't enable gripper representation caching."}

::ChangelogItem{type="added" description="Add `service_name` to the config to support the `server_info` service."}

::ChangelogItem{type="added" description="Implement `Eq` and `Ord` for `Feedback`."}

::ChangelogItem{type="improved" description="Bump `fizyr-kinematics` and `fizyr-collision` to `v0.2.0`."}

::ChangelogItem{type="improved" description="Allow for negative values in `2d-reference-point`."}

::ChangelogItem{type="improved" description="Bump `fizyr-kinematics` to `v0.2.0`."}

::ChangelogItem{type="improved" description="rename `box3` to `box` in serde serialization of `Shape` enum."}

::ChangelogItem{type="fixed" description="Fix height adjustment of combined bounded plane."}

::ChangelogItem{type="fixed" description="Fix closed pick plan queue bug."}

::ChangelogItem{type="fixed" description="Add missing request handlers to `fizyr-rpc` interface."}
:::

:::Changelog{title="2026-01-14 Release"}
::ChangelogItem{type="added" description="Cache `mask-match` gripper representation tensors."}

::ChangelogItem{type="improved" description="Filter detections that contain less than 4 non-NAN points."}

::ChangelogItem{type="improved" description="Make powerset property computation optional in `mask-match`."}

::ChangelogItem{type="fixed" description="Fix logging of configuration files in the cycle logs."}

::ChangelogItem{type="fixed" description="Reverse ordering of `DetectionPriority` so that best detections are at the end of the list."}

::ChangelogItem{type="fixed" description="Include plane ids in the cycle logs for the multi-pick planner."}

::ChangelogItem{type="fixed" description="Log camera parameters and wall clouds in the root cycle log directory."}
:::

:::Changelog{title="2025-12-19 Release"}
::ChangelogItem{type="improved" description="Initial implementation."}
:::

:::Changelog{title="2024-12-19 Release"}
::ChangelogItem{type="improved" description="Initial implementation."}

::ChangelogItem{type="improved" description="Inital implementation."}
:::