xarm-python-sdk 1.15.3__tar.gz → 1.16.0__tar.gz

{xarm_python_sdk-1.15.3 → xarm_python_sdk-1.16.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: xarm-python-sdk
-Version: 1.15.3
+Version: 1.16.0
 Summary: Python SDK for UFACTORY robotic arm 850, xArm 5/6/7, and Lite6.
 Project-URL: Homepage, https://www.ufactory.cc
 Project-URL: Documentation, https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/doc/api/xarm_api.md
@@ -32,6 +32,9 @@ xarm-python-sdk
 .. image:: https://badge.fury.io/py/xarm-python-sdk.svg
     :target: https://pypi.org/project/xarm-python-sdk/
 
+.. image:: https://static.pepy.tech/badge/xarm-python-sdk
+    :target: https://pepy.tech/projects/xarm-python-sdk
+
 .. image:: https://img.shields.io/github/license/xArm-Developer/xArm-Python-SDK.svg
     :target: https://github.com/xArm-Developer/xArm-Python-SDK/blob/main/LICENSE
 

{xarm_python_sdk-1.15.3 → xarm_python_sdk-1.16.0}/README.md

@@ -1,5 +1,7 @@
 # xArm-Python-SDK
 
+[![PyPI Downloads](https://static.pepy.tech/badge/xarm-python-sdk)](https://pepy.tech/projects/xarm-python-sdk)
+
 ## Overview
 xArm Python SDK
 
@@ -14,14 +16,14 @@ xArm Python SDK
   - download
     ```bash
     git clone https://github.com/xArm-Developer/xArm-Python-SDK.git
-    cd cd xArm-Python-SDK
+    cd xArm-Python-SDK
     ```
   - install
     - install with build
       ```bash
       pip install build
       python -m build
-      pip install dist/xarm_python_sdk-1.15.1-py3-none-any.whl
+      pip install dist/xarm_python_sdk-1.16.0-py3-none-any.whl
       ```
     - install with source code
       ```bash
@@ -40,6 +42,12 @@ xArm Python SDK
 - #### [UFACTORY ModbusTCP Manual](doc/UF_ModbusTCP_Manual.md)
 
 ## Update Summary
+- > ### 1.16.0
+  - Added parameter to support get raw data of the Six-axis Force Torque Sensor
+  - Added an interface to control xArm Gripper G2
+  - Optimize the interface for controlling BIO Gripper G2
+  - Extend the get_joint_states interface
+
 - > ### 1.15.0
   - Added the Six-axis Force Torque Sensor collision detection related interfaces
   - Added support for the new version of BIO Gripper control interface

{xarm_python_sdk-1.15.3 → xarm_python_sdk-1.16.0}/README.rst

@@ -4,6 +4,9 @@ xarm-python-sdk
 .. image:: https://badge.fury.io/py/xarm-python-sdk.svg
     :target: https://pypi.org/project/xarm-python-sdk/
 
+.. image:: https://static.pepy.tech/badge/xarm-python-sdk
+    :target: https://pepy.tech/projects/xarm-python-sdk
+
 .. image:: https://img.shields.io/github/license/xArm-Developer/xArm-Python-SDK.svg
     :target: https://github.com/xArm-Developer/xArm-Python-SDK/blob/main/LICENSE
 

{xarm_python_sdk-1.15.3 → xarm_python_sdk-1.16.0}/ReleaseNotes.md

@@ -2,6 +2,12 @@
 
 ## Update Summary
 
+- > ### 1.16.0
+  - Added parameter to support get raw data of the Six-axis Force Torque Sensor
+  - Added an interface to control xArm Gripper G2
+  - Optimize the interface for controlling BIO Gripper G2
+  - Extend the get_joint_states interface
+
 - > ### 1.15.0
   - Added the Six-axis Force Torque Sensor collision detection related interfaces
   - Added support for the new version of BIO Gripper control interface

{xarm_python_sdk-1.15.3 → xarm_python_sdk-1.16.0}/doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.15.3): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.16.0): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -414,6 +414,14 @@ xArm-Python-SDK API Documentation (V1.15.3): class XArmAPI in module xarm.wrappe
 >     error_code: See the [Bio Gripper Error Code Documentation](./xarm_api_code.md#bio-gripper-error-code) for details.
 
 
+#### def __get_bio_gripper_g2_position__(self, **kwargs):
+
+> Get the position (mm) of the BIO Gripper G2  
+>   
+> :return: tuple((code, pos)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
 #### def __get_bio_gripper_status__(self):
 
 > Get the status of the bio gripper  
@@ -724,13 +732,15 @@ xArm-Python-SDK API Documentation (V1.15.3): class XArmAPI in module xarm.wrappe
 >         [21] xe_limit: 6d vector. for compliant axes, these values are the maximum allowed tcp speed along/about the axis. mm/s
 
 
-#### def __get_ft_sensor_data__(self):
+#### def __get_ft_sensor_data__(self, is_raw=False):
 
 > Get the data of the Six-axis Force Torque Sensor  
 > Note:  
 >     1. only available if firmware_version >= 1.8.3  
 >     2. the Six-axis Force Torque Sensor is required (the third party is not currently supported)  
 >   
+> :param is_raw: get the raw data or not.  
+>     1. only available if firmware_version >= 2.6.109  
 > :return: tuple((code, exe_ft))  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
 >     ft_data: only when code is 0, the returned result is correct.  
@@ -758,9 +768,17 @@ xArm-Python-SDK API Documentation (V1.15.3): class XArmAPI in module xarm.wrappe
 >     err_code: See the [Gripper Error Code Documentation](./xarm_api_code.md#gripper-error-code) for details.
 
 
+#### def __get_gripper_g2_position__(self, **kwargs):
+
+> Get the position (mm) of the xArm Gripper G2  
+>   
+> :return: tuple((code, pos)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
 #### def __get_gripper_position__(self, **kwargs):
 
-> Get the gripper position  
+> Get the gripper position (pulse)  
 >   
 > :return: tuple((code, pos)), only when code is 0, the returned result is correct.  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
@@ -1292,7 +1310,7 @@ xArm-Python-SDK API Documentation (V1.15.3): class XArmAPI in module xarm.wrappe
 > :param min_res_len: the minimum length of modbus response data. Used to check the data length, if not specified, no check  
 > :param host_id: host_id, default is 9 (TGPIO_HOST_ID)  
 >     9: END RS485  
->     10: CONTROLLER RS485  
+>     11: CONTROLLER RS485  
 > :param is_transparent_transmission: whether to choose transparent transmission, default is False  
 >     Note: only available if firmware_version >= 1.11.0  
 > :param use_503_port: whether to use port 503 for communication, default is False  
@@ -2106,13 +2124,13 @@ xArm-Python-SDK API Documentation (V1.15.3): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
-#### def __set_bio_gripper_position__(self, pos, speed=0, force=100, wait=True, timeout=5, **kwargs):
+#### def __set_bio_gripper_g2_position__(self, pos, speed=2000, force=100, wait=True, timeout=5, **kwargs):
 
-> Set the bio gripper position  
+> Set the position of BIO Gripper G2  
 >   
-> :param pos: gripper pos between 71 and 150  
-> :param speed: gripper speed between 0 and 4500  
-> :param force: gripper force between 10 and 100  
+> :param pos: gripper pos between 71 and 150, (unit: mm)  
+> :param speed: gripper speed between 500 and 4500, default is 2000, (unit: pulse/s)  
+> :param force: gripper force between 1 and 100, default is 100  
 > :param wait: whether to wait for the robotiq motion to complete, default is True  
 > :param timeout: maximum waiting time(unit: second), default is 5, only available if wait=True  
 >   
@@ -2297,11 +2315,17 @@ xArm-Python-SDK API Documentation (V1.15.3): class XArmAPI in module xarm.wrappe
 >         self.set_collision_tool_model(21, radius=45, height=137)  
 >         :param radius: the radius of cylinder, (unit: mm)  
 >         :param height: the height of cylinder, (unit: mm)  
+>         :param x_offset: offset in the x direction, (unit: mm)  
+>         :param y_offset: offset in the y direction, (unit: mm)  
+>         :param z_offset: offset in the z direction, (unit: mm)  
 >     22: Cuboid, need additional parameters x, y, z  
 >         self.set_collision_tool_model(22, x=234, y=323, z=23)  
 >         :param x: the length of the cuboid in the x coordinate direction, (unit: mm)  
 >         :param y: the length of the cuboid in the y coordinate direction, (unit: mm)  
 >         :param z: the length of the cuboid in the z coordinate direction, (unit: mm)  
+>         :param x_offset: offset in the x direction, (unit: mm)  
+>         :param y_offset: offset in the y direction, (unit: mm)  
+>         :param z_offset: offset in the z direction, (unit: mm)  
 > :param args: additional parameters  
 > :param kwargs: additional parameters  
 > :return: code  
@@ -2499,6 +2523,19 @@ xArm-Python-SDK API Documentation (V1.15.3): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
+#### def __set_gripper_g2_position__(self, pos, speed=100, force=50, wait=False, timeout=None, **kwargs):
+
+> Set the position of the xArm Gripper G2  
+>   
+> :param pos: gripper pos between 0 and 84, (unit: mm)  
+> :param speed: gripper speed between 15 and 225, default is 100, (unit: mm/s)  
+> :param force: gripper force between 1 and 100, default is 50  
+> :param wait: whether to wait for the bio gripper motion complete, default is False  
+> :param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True  
+> :return: code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
 #### def __set_gripper_mode__(self, mode, **kwargs):
 
 > Set the gripper mode  
@@ -2515,7 +2552,7 @@ xArm-Python-SDK API Documentation (V1.15.3): class XArmAPI in module xarm.wrappe
 >   
 > :param pos: pos  
 > :param wait: wait or not, default is False  
-> :param speed: speed,unit:r/min  
+> :param speed: speed, unit:r/min  
 > :param auto_enable: auto enable or not, default is False  
 > :param timeout: wait time, unit:second, default is 10s  
 > :return: code  

{xarm_python_sdk-1.15.3 → xarm_python_sdk-1.16.0}/example/wrapper/thridparty/set_yinshi_gripper.py

@@ -39,21 +39,21 @@ arm.motion_enable(True)
 arm.set_mode(0)
 arm.set_state(0)
 
-ret = arm.core.set_modbus_timeout(20)
-print('set modbus timeout, ret = %d' % (ret[0]))
+code = arm.set_tgpio_modbus_timeout(20)
+print('set_tgpio_modbus_timeout, code={}'.format(code))
 
-ret = arm.core.set_modbus_baudrate(115200)
-print('set modbus baudrate, ret = %d' % (ret[0]))
+code = arm.set_tgpio_modbus_baudrate(115200)
+print('set_tgpio_modbus_baudrate, code={}'.format(code))
 time.sleep(2)
 
 while arm.connected:
     # yinshi open/close test
     data_frame = [0x01, 0x06, 0x00, 0x0A, 0x00, 0x03]
-    ret = arm.core.tgpio_set_modbus(data_frame, len(data_frame))
-    print('set modbus, ret = %d' % (ret[0]))
+    code, res_data = arm.getset_tgpio_modbus_data(data_frame)
+    print('getset_tgpio_modbus_data, code={}, res_data={}'.format(code, res_data))
     time.sleep(2)
 
     data_frame = [0x01, 0x06, 0x00, 0x0A, 0x03, 0x60]
-    ret = arm.core.tgpio_set_modbus(data_frame, len(data_frame))
-    print('set modbus, ret = %d' % (ret[0]))
+    code, res_data = arm.getset_tgpio_modbus_data(data_frame)
+    print('getset_tgpio_modbus_data, code={}, res_data={}'.format(code, res_data))
     time.sleep(1)

xarm_python_sdk-1.16.0/example/wrapper/thridparty/set_yinshi_rh56_gripper.py

@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2019, UFACTORY, Inc.
+# All rights reserved.
+#
+# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
+
+"""
+Example: yinshi RH56 gripper Control
+Please make sure that the gripper is attached to the end.
+"""
+
+import os
+import sys
+import time
+sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
+
+from xarm.wrapper import XArmAPI
+from configparser import ConfigParser
+parser = ConfigParser()
+parser.read('../robot.conf')
+try:
+    ip = parser.get('xArm', 'ip')
+except:
+    ip = input('Please input the xArm ip address[192.168.1.194]:')
+    if not ip:
+        ip = '192.168.1.194'
+
+# 各自由度角度、力控、速度寄存器地址
+FINGER_ADDR = {
+    0: 0x05CE,  # 小拇指
+    1: 0x05D0,  # 无名指
+    2: 0x05D2,  # 中指
+    3: 0x05D4,  #食指
+    4: 0x05D6,  #大拇指弯曲
+    5: 0x05D8,  #大拇指旋转
+}
+FORCE_ADDR = {
+    0: 0x05DA,  # 小拇指
+    1: 0x05DC,
+    2: 0x05DE,
+    3: 0x05E0,
+    4: 0x05E2,
+    5: 0x05E4,
+}
+SPEED_ADDR = {
+    0: 0x05F2,  # 小拇指
+    1: 0x05F4,
+    2: 0x05F6,
+    3: 0x05F8,
+    4: 0x05FA,
+    5: 0x05FC,
+}
+
+HAND_ID = 0x01
+
+def set_rh56_finger_speed(arm, finger_id, speed):
+    speed = min(max(round(speed), 0), 1000)
+    addr = SPEED_ADDR[finger_id]
+    modbus = [HAND_ID, 0x06, (addr >> 8) & 0xFF, addr & 0xFF, (speed >> 8) & 0xFF, speed & 0xFF]
+    code, res_data = arm.getset_tgpio_modbus_data(modbus, timeout=100)
+    if code != 0:
+        print('[FAILED] set the speed of finger-{}, code={}, res_data={}'.format(finger_id, code, res_data))
+    else:
+        print('[SUCCESS] set the speed of finger-{}, res_data={}'.format(finger_id, res_data))
+    return code, res_data
+
+def set_rh56_finger_force(arm, finger_id, force):
+    force = min(max(round(force), 0), 1000)
+    addr = FORCE_ADDR[finger_id]
+    modbus = [HAND_ID, 0x06, (addr >> 8) & 0xFF, addr & 0xFF, (force >> 8) & 0xFF, force & 0xFF]
+    code, res_data = arm.getset_tgpio_modbus_data(modbus, timeout=100)
+    if code != 0:
+        print('[FAILED] set the force of finger-{}, code={}, res_data={}'.format(finger_id, code, res_data))
+    else:
+        print('[SUCCESS] set the force of finger-{}, res_data={}'.format(finger_id, res_data))
+    return code, res_data
+
+def set_rh56_finger_pos(arm, finger_id, pos):
+    pos = min(max(round(pos), 0), 1000) if pos != -1 else 0xFFFF
+    addr = FINGER_ADDR[finger_id]
+    modbus = [HAND_ID, 0x06, (addr >> 8) & 0xFF, addr & 0xFF, (pos >> 8) & 0xFF, pos & 0xFF]
+    code, res_data = arm.getset_tgpio_modbus_data(modbus, timeout=100)
+    if code != 0:
+        print('[FAILED] set the pos of finger-{}, code={}, res_data={}'.format(finger_id, code, res_data))
+    else:
+        print('[SUCCESS] set the pos of finger-{}, res_data={}'.format(finger_id, res_data))
+    return code, res_data
+
+def set_rh56_finger(arm, pos, speed=1000, force=500, open_threshold=500):
+    # 决定执行顺序：闭合用正序，张开用反序。位置大于500认为张开，小于等于500认为是闭合。
+    if pos <= open_threshold:
+        finger_order = range(0, 5)  # 抓取（闭合）
+    else:
+        finger_order = reversed(range(0, 5))  # 张开
+
+    for finger_id in finger_order:
+        set_rh56_finger_speed(arm, finger_id, speed)
+        set_rh56_finger_force(arm, finger_id, force)
+        set_rh56_finger_pos(arm, finger_id, pos)
+        time.sleep(0.01)
+
+arm = XArmAPI(ip)
+time.sleep(0.5)
+if arm.warn_code != 0:
+    arm.clean_warn()
+if arm.error_code != 0:
+    arm.clean_error()
+
+arm.motion_enable(True)
+arm.set_mode(0)
+arm.set_state(0)
+
+code = arm.set_tgpio_modbus_timeout(20)
+print('set_tgpio_modbus_timeout, code={}'.format(code))
+
+code = arm.set_tgpio_modbus_baudrate(115200)
+print('set_tgpio_modbus_baudrate, code={}'.format(code))
+time.sleep(2)
+
+for i in range(100):
+    set_rh56_finger(arm, pos=1000, force=500,speed=1000)
+    time.sleep(2)
+    set_rh56_finger(arm, pos=0, force=500, speed=1000)
+    time.sleep(2)

{xarm_python_sdk-1.15.3 → xarm_python_sdk-1.16.0}/xarm/core/wrapper/uxbus_cmd.py

@@ -42,6 +42,7 @@ class UxbusCmd(object):
         self._last_modbus_comm_time = time.monotonic()
         self._feedback_type = 0
         self._set_feedback_key_tranid = set_feedback_key_tranid
+        self.tgpio_set_modbus_func = self.tgpio_set_modbus
 
     @property
     def last_comm_time(self):
@@ -625,7 +626,7 @@ class UxbusCmd(object):
         return self.get_nfp32(XCONF.UxbusReg.GET_JOINT_POS, 7)
 
     def get_joint_states(self, num=3):
-        return self.get_nfp32_with_datas(XCONF.UxbusReg.GET_JOINT_POS, [num], 1, 7 * num)
+        return self.get_nfp32_with_datas(XCONF.UxbusReg.GET_JOINT_POS, [num], 1, 7 * (num & 0x0F))
 
     def get_tcp_pose(self):
         return self.get_nfp32(XCONF.UxbusReg.GET_TCP_POSE, 6)
@@ -874,22 +875,22 @@ class UxbusCmd(object):
         txdata = [io_type, on_off]
         return self.set_nu8(XCONF.UxbusReg.SET_IO_STOP_RESET, txdata, 2)
 
-    def gripper_modbus_w16s(self, addr, value, length):
+    def gripper_modbus_w16s(self, addr, value, count):
         txdata = bytes([XCONF.GRIPPER_ID])
         txdata += bytes([0x10])
         txdata += convert.u16_to_bytes(addr)
-        txdata += convert.u16_to_bytes(length)
-        txdata += bytes([length * 2])
+        txdata += convert.u16_to_bytes(count)
+        txdata += bytes([count * 2])
         txdata += value
-        ret = self.tgpio_set_modbus(txdata, length * 2 + 7)
+        ret = self.tgpio_set_modbus_func(txdata, count * 2 + 7)
         return ret
 
-    def gripper_modbus_r16s(self, addr, length):
+    def gripper_modbus_r16s(self, addr, count):
         txdata = bytes([XCONF.GRIPPER_ID])
         txdata += bytes([0x03])
         txdata += convert.u16_to_bytes(addr)
-        txdata += convert.u16_to_bytes(length)
-        ret = self.tgpio_set_modbus(txdata, 6)
+        txdata += convert.u16_to_bytes(count)
+        ret = self.tgpio_set_modbus_func(txdata, 6)
         return ret
 
     def gripper_modbus_set_en(self, value):
@@ -1207,8 +1208,11 @@ class UxbusCmd(object):
     def ft_sensor_app_get(self):
         return self.get_nu8(XCONF.UxbusReg.FTSENSOR_GET_APP, 1)
 
-    def ft_sensor_get_data(self, is_new=True):
-        return self.get_nfp32(XCONF.UxbusReg.FTSENSOR_GET_DATA if is_new else XCONF.UxbusReg.FTSENSOR_GET_DATA_OLD, 6)
+    def ft_sensor_get_data(self, is_new=True, is_raw=False):
+        if is_new and is_raw:
+            return self.get_nfp32_with_datas(XCONF.UxbusReg.FTSENSOR_GET_DATA, [1], 1, 6)
+        else:
+            return self.get_nfp32(XCONF.UxbusReg.FTSENSOR_GET_DATA if is_new else XCONF.UxbusReg.FTSENSOR_GET_DATA_OLD, 6)
 
     def ft_sensor_get_config(self):
         ret = self.get_nu8(XCONF.UxbusReg.FTSENSOR_GET_CONFIG, 280)
@@ -1317,7 +1321,7 @@ class UxbusCmd(object):
         txdata += convert.u16_to_bytes(length)
         txdata += bytes([length * 2])
         txdata += value
-        ret = self.tgpio_set_modbus(txdata, length * 2 + 7, host_id=XCONF.LINEER_TRACK_HOST_ID, limit_sec=0.001)
+        ret = self.tgpio_set_modbus_func(txdata, length * 2 + 7, host_id=XCONF.LINEER_TRACK_HOST_ID, limit_sec=0.001)
         return ret
 
     def track_modbus_r16s(self, addr, length, fcode=0x03):
@@ -1325,7 +1329,7 @@ class UxbusCmd(object):
         txdata += bytes([fcode])
         txdata += convert.u16_to_bytes(addr)
         txdata += convert.u16_to_bytes(length)
-        ret = self.tgpio_set_modbus(txdata, 6, host_id=XCONF.LINEER_TRACK_HOST_ID, limit_sec=0.001)
+        ret = self.tgpio_set_modbus_func(txdata, 6, host_id=XCONF.LINEER_TRACK_HOST_ID, limit_sec=0.001)
         return ret
 
     def iden_tcp_load(self, estimated_mass=0):

xarm_python_sdk-1.16.0/xarm/version.py

@@ -0,0 +1 @@
+__version__ = '1.16.0'

{xarm_python_sdk-1.15.3 → xarm_python_sdk-1.16.0}/xarm/wrapper/xarm_api.py

@@ -103,6 +103,8 @@ class XArmAPI(object):
             'set_suction_cup': self.set_vacuum_gripper,
             'get_ft_senfor_config': self.get_ft_sensor_config,
             'shutdown_system': self.system_control,
+            'set_bio_gripper_position': self.set_bio_gripper_g2_position,
+            'get_bio_gripper_position': self.get_bio_gripper_g2_position,
         }
 
     def __getattr__(self, item):
@@ -1820,26 +1822,49 @@ class XArmAPI(object):
 
     def get_gripper_position(self, **kwargs):
         """
-        Get the gripper position
+        Get the gripper position (pulse)
 
         :return: tuple((code, pos)), only when code is 0, the returned result is correct.
             code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
         """
         return self._arm.get_gripper_position(**kwargs)
 
+    def get_gripper_g2_position(self, **kwargs):
+        """
+        Get the position (mm) of the xArm Gripper G2
+
+        :return: tuple((code, pos)), only when code is 0, the returned result is correct.
+            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+        """
+        return self._arm.get_gripper_g2_position(**kwargs)
+
     def set_gripper_position(self, pos, wait=False, speed=None, auto_enable=False, timeout=None, **kwargs):
         """
         Set the gripper position
 
         :param pos: pos
         :param wait: wait or not, default is False
-        :param speed: speed,unit:r/min
+        :param speed: speed, unit:r/min
         :param auto_enable: auto enable or not, default is False
         :param timeout: wait time, unit:second, default is 10s
         :return: code
             code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
         """
         return self._arm.set_gripper_position(pos, wait=wait, speed=speed, auto_enable=auto_enable, timeout=timeout, **kwargs)
+    
+    def set_gripper_g2_position(self, pos, speed=100, force=50, wait=False, timeout=None, **kwargs):
+        """
+        Set the position of the xArm Gripper G2
+
+        :param pos: gripper pos between 0 and 84, (unit: mm)
+        :param speed: gripper speed between 15 and 225, default is 100, (unit: mm/s)
+        :param force: gripper force between 1 and 100, default is 50
+        :param wait: whether to wait for the bio gripper motion complete, default is False
+        :param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True
+        :return: code
+            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+        """
+        return self._arm.set_gripper_g2_position(pos, speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)
 
     def set_gripper_speed(self, speed, **kwargs):
         """
@@ -2844,13 +2869,22 @@ class XArmAPI(object):
 
         return self._arm.set_bio_gripper_force(force)
 
-    def set_bio_gripper_position(self, pos, speed=0, force=100, wait=True, timeout=5, **kwargs):
+    def get_bio_gripper_g2_position(self, **kwargs):
         """
-        Set the bio gripper position
+        Get the position (mm) of the BIO Gripper G2
 
-        :param pos: gripper pos between 71 and 150
-        :param speed: gripper speed between 0 and 4500
-        :param force: gripper force between 10 and 100
+        :return: tuple((code, pos)), only when code is 0, the returned result is correct.
+            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+        """
+        return self._arm.get_bio_gripper_g2_position(**kwargs)
+
+    def set_bio_gripper_g2_position(self, pos, speed=2000, force=100, wait=True, timeout=5, **kwargs):
+        """
+        Set the position of BIO Gripper G2
+
+        :param pos: gripper pos between 71 and 150, (unit: mm)
+        :param speed: gripper speed between 500 and 4500, default is 2000, (unit: pulse/s)
+        :param force: gripper force between 1 and 100, default is 100
         :param wait: whether to wait for the robotiq motion to complete, default is True
         :param timeout: maximum waiting time(unit: second), default is 5, only available if wait=True
 
@@ -2858,7 +2892,7 @@ class XArmAPI(object):
             code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
             robotiq_response: See the robotiq documentation
         """
-        return self._arm.set_bio_gripper_position(pos, speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)
+        return self._arm.set_bio_gripper_g2_position(pos, speed=speed, force=force, wait=wait, timeout=timeout, **kwargs)
 
     def open_bio_gripper(self, speed=0, wait=True, timeout=5, **kwargs):
         """
@@ -2967,6 +3001,9 @@ class XArmAPI(object):
         """
         return self._arm.set_control_modbus_baudrate(baud)
 
+    def set_tgpio_modbus_use_503_port(self, use_503_port=True):
+        return self._arm.set_tgpio_modbus_use_503_port(use_503_port)
+
     def getset_tgpio_modbus_data(self, datas, min_res_len=0, host_id=9, is_transparent_transmission=False, use_503_port=False, **kwargs):
         """
         Send the modbus data to the tool gpio
@@ -2975,7 +3012,7 @@ class XArmAPI(object):
         :param min_res_len: the minimum length of modbus response data. Used to check the data length, if not specified, no check
         :param host_id: host_id, default is 9 (TGPIO_HOST_ID)
             9: END RS485
-            10: CONTROLLER RS485
+            11: CONTROLLER RS485
         :param is_transparent_transmission: whether to choose transparent transmission, default is False
             Note: only available if firmware_version >= 1.11.0
         :param use_503_port: whether to use port 503 for communication, default is False
@@ -3039,11 +3076,17 @@ class XArmAPI(object):
                 self.set_collision_tool_model(21, radius=45, height=137)
                 :param radius: the radius of cylinder, (unit: mm)
                 :param height: the height of cylinder, (unit: mm)
+                :param x_offset: offset in the x direction, (unit: mm)
+                :param y_offset: offset in the y direction, (unit: mm)
+                :param z_offset: offset in the z direction, (unit: mm)
             22: Cuboid, need additional parameters x, y, z
                 self.set_collision_tool_model(22, x=234, y=323, z=23)
                 :param x: the length of the cuboid in the x coordinate direction, (unit: mm)
                 :param y: the length of the cuboid in the y coordinate direction, (unit: mm)
                 :param z: the length of the cuboid in the z coordinate direction, (unit: mm)
+                :param x_offset: offset in the x direction, (unit: mm)
+                :param y_offset: offset in the y direction, (unit: mm)
+                :param z_offset: offset in the z direction, (unit: mm)
         :param args: additional parameters
         :param kwargs: additional parameters
         :return: code
@@ -3342,19 +3385,21 @@ class XArmAPI(object):
         """
         return self._arm.ft_sensor_app_get()
 
-    def get_ft_sensor_data(self):
+    def get_ft_sensor_data(self, is_raw=False):
         """
         Get the data of the Six-axis Force Torque Sensor
         Note:
             1. only available if firmware_version >= 1.8.3
             2. the Six-axis Force Torque Sensor is required (the third party is not currently supported)
 
+        :param is_raw: get the raw data or not.
+            1. only available if firmware_version >= 2.6.109
         :return: tuple((code, exe_ft))
             code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
             ft_data: only when code is 0, the returned result is correct.
                 Note: The external force detection value of the Six-axis Force Torque Sensor after filtering, load and offset compensation
         """
-        return self._arm.get_ft_sensor_data()
+        return self._arm.get_ft_sensor_data(is_raw=is_raw)
 
     def get_ft_sensor_config(self):
         """