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ReleaseNotes.md

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xArm-Python-SDK Release Notes

Update Summary

  • 1.14.7

    • Fixed the problem that single joint or direction movement fails in some cases (valid from firmware 2.5.0)
    • Added standard ModbusTcp client and Gcode client
    • GPIO control supports immediate execution
    • Support new version of vacuum gripper
    • Support the studio-2.5.0 blockly project conversion to python
  • 1.13.30

    • Supports obtaining unsaved track recording duration
    • Fix the abnormal path of running blockly program in some cases
    • Fix the return format of getting C23 and C38 errors
    • Supports obtaining identification status
  • 1.13.19

    • Friction identification supports xarm7_mirror model
    • Fix the abnormal return value of blockly conversion robotiq related interface
  • 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