xArm-Python-SDK Release Notes
Update Summary
- 1.8.4
Support the Six-axis Force Torque Sensor (not a third party)
Add threads to handle callbacks
Modify the reporting processing logic and optimize the processing of sticky packets
Fixed frequent switching of the pause state causing the program to hang
Fix the program hangs when setting the mechanical claw position in speed mode
Fix relative movement in unsynchronized position
- 1.8.0
Support for blocky code conversion and operation of xArmStudio-1.8.0
The Velocity interface supports the duration parameter (requires firmware 1.8.0 or higher)
Added identification interface (current identification and torque identification)
Support linear track interface
Support calling some studio APIs
- 1.6.0
Support the xArm BIO gripper, Robotiq 2F-85 gripper and Robotiq 2F-140 gripper
Support position detection trigger the controller analog IO
Support self-collision model parameter setting
Support Modbus communication of end tools
Supports TCP timeout for setting instructions
Support joint motion with circular interpolation
Support for blocky code conversion and operation of xArmStudio1.6.0
Optimize logic, enhance API security, Fix several bugs
- 1.5.0
The new parameter of
set_servo_cartisian
interface is used to support servo cartisian movement of tool coordinate systemSupport delayed trigger digital IO
Support position detection trigger digital IO
Support configure the stop state to automatically reset IO signal
Support motion commands based on axis angle
Support to calculate the offset between two points
Support for blocky code conversion and operation of xArmStudio1.5.0
- 1.0.0
Support for the latest firmware 1.0.0, compatible with old firmware
Support mount angle setting interface
Support controller IO interface
Modify clip and Tool GPIO communication protocol, compatible with standard modbus
Modify the interface name and parameters of the Tool GPIO, note that the value of the parameter ionum is changed from [1, 2] to [0, 1]
Support for blocky code conversion and operation of xArmStudio1.0.0
- 0.0.12
By specifying the value of the default parameter of the interface in the instantiation parameter, using angle or radians
Unify all interfaces by default using angle or radians
More interface routines
More detailed interface documentation
Richer interface
Set interface alias
Modified the default values of the default parameters of some interfaces, but support the use of parameters to be compatible when instantiating
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