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xArm-Python-SDK Release Notes

Update Summary

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