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The Ultimaker Firmware is based on Marlin, which is derived from GRBL like most of the sub-10'000$ 3D printers out there. GRBL doesn't support circular motion because it is highly optimized to run fast on 8bit Atmel Microcontrollers.

At the same time, the widely used STL format contains only triangles. That means there are no curved surfaces that could be translated into G2/G3 instructions.

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