Bugs below are not resolved and relevant for all versions of Pally
Bugs below are resolved in Pally 2.8.
Pallet Lip function may not work properly. Collision with pallet lip can occur.
Strange behaviour in robot movements and large rotations on the gripper : How to resolve
Issue could be originating from errors in UR Polyscope:
5.9.1
5.9.3
5.9.4
Latest news from UR is a new release in February