xArm-Python-SDK Release Notes

Update Summary

• 1.13.0

  • Compatible with the standard Modbus TCP protocol, providing part of the standard Modbus TCP protocol interface

• 1.12.2

  • Support partial Task feedback (requires firmware version greater than or equal to v2.1.0)

• 1.11.6

  • Correct the ambiguity that the set_position_aa interface is true when both relative and is_tool_coord are true. After the correction, when is_tool_coord is true, relative is invalid (previously is_tool_coord was invalid when relative was true)

• 1.11.5

  • Optimization pause time is too long (wait=true)

  • Add common motion api (Enabled after firmware version 1.11.100)

  • The Cartesian motion-related interface adds the motion_type parameter to determine the planning method (Enabled after firmware version 1.11.100)

• 1.11.0

  • Support transparent transmission

    • 240: set_tgpio_modbus_timeout(..., is_transparent_transmission=True)

    • 241: getset_tgpio_modbus_data(..., is_transparent_transmission=True)

  • Modified the centroid unit of the ft_sensor_iden_load and ft_sensor_cali_load interfaces to millimeters (originally meters)

• 1.10.0

  • Use monotonic time

  • Fix several bugs

• 1.9.10

  • Use monotonic time

  • Fix several bugs

• 1.9.10

  • Support Lite6 Model

  • Fix several bugs

• 1.9.0

  • Support friction parameter identification interface

  • Support relative motion

  • Support xarm6-type11 firmware

  • Repair time-consuming interface (identification) failure due to heartbeat mechanism

  • Fix several bugs

• 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

• 1.6.9

  • Support for blocky code conversion and operation of xArmStudio1.6.9

  • Support velocity control

  • Support calibrate tcp offset and user offset

• • 1.6.5

  • Support for blocky code conversion and operation of xArmStudio1.6.5

• 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 system

  • Support 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

• 1.4.0

  • Support servo cartesian interface

  • Support for blocky code conversion and operation of xArmStudio1.4.0

• 1.3.0

  • Added several attributes

  • Support tool coordinate system movement

  • Support joint range limitation, collision rebound setting

  • Support user coordinate system setting

  • Support the status of the air pump

  • Added counter interface

  • Support for blocky code conversion and operation of xArmStudio1.3.0

• 1.2.0

  • Fix the parameters of the control box GPIO analog signal

  • Support for more Gcode commands

  • Support trajectory recording

  • Support for reduced mode settings

  • Optimize some interfaces and bug fixes

  • Support for blocky code conversion and operation of xArmStudio1.2.0

• 1.1.0

  • Modify the claw interface

  • Modify error code and error message

  • Support for blocky code conversion and operation of xArmStudio1.1.0

• 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

• 0.2.1

  • Added GPIO example

  • Compatible with old reporting protocols using new reporting protocols

  • New tools to convert xArmStudio's app code into Python code

• 0.2.0

  • Support torque detection

  • Support drag teaching mode

• 0.1.1

  • Support GPIO interface

• 0.1.0

  • Compatible with 5, 6, and 7 axis robot arms

• 0.0.13

  • Supports trajectory repeat motion interface with circular interpolation, supports repetition times, calibration

  • Increase joint limits, attitude angle limits and cmd cache limits

  • Exchange the parameters of the attitude angle yaw and the attitude angle pitch, but retain the parameter position

• 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

• 0.0.11

  • Support serial port and TCP connection

  • Support parameter to enable reporting

  • Support callback register and release

  • Support Gripper setting

  • Support servo setting (Some interfaces are limited to professional debugging)

  • Unified return value

  • Snaps an exception and returns the specified return value