Agilebot Python SDK Update Notes

2.0.0.0 Update (2025/12/5)

1. Changed the underlying communication method.
2. Added support for a local proxy service.
3. Added step_move and continue_move interfaces under the Jogging class.
4. Added plugin-related interfaces.
5. Added get_top_alarm interface to fetch the most severe alarm.
6. Added JUMP-related instructions under the bas_script class.
7. Added interfaces related to trajectory replay.
8. Optimized the coordinate system information class.
9. Updated the payload information class.
10. The get_all_active_alarms interface now supports language selection.
11. The get_version API has been renamed to get_controller_version .
12. The is_connect API has been renamed to is_connected .
13. Added the get_op_mode API to query the manipulator’s operation mode.
14. Added a subscription class SubPub for subscribing to robot status, register data, and I/O information.
15. The CoordinateSystem class now provides interfaces for calculating TF/UF.
16. Added two subclasses TF and UF under the CoordinateSystem class.
17. The plugin-management class now exposes plugin-related APIs.
18. The Trajectory class added interfaces for trajectory replay.
19. Python dependencies have been optimized; Python 3.8 and above is now supported.

1.7.0.0 Update (2025/5/30)

1. Register Changes

   1. All registers are now placed under the Registers class, and other Registers will be deprecated in the future.
   2. Interface names have been changed to read_R , write_R , delete_R , etc.
   3. The add method has been removed; use write_XX instead.
   4. The RPC interface for reading and writing registers has been changed to a new RPC that only reads values, improving speed.
   5. read_R , read_MR , read_SR now directly return the corresponding values and execution results.

2. Changes to arm Class Interfaces

   1. The interfaces get_arm_model_info , get_ctrl_status , get_robot_status , get_servo_status , get_soft_mode , get_version have been changed to return 'result + execution status'.
   2. The interfaces servo_on , servo_off , servo_reset have been moved to the arm class, and will be deprecated under execution in the future.

3. Changes to motion Class

   1. Payload-related operation interfaces have been moved to motion.payload .
   2. New interfaces for payload measurement have been added.
   3. New interfaces get_OVC , set_OVC , get_OAC , set_OAC , get_TF , set_TF , get_UF , set_UF , get_TCS , set_TCS have been added.
   4. The convert_cart_to_joint_simple interface now includes settings for uf_index and tf_index .
   5. New interfaces move_joint , move_line , move_circle have been added.
   6. New interfaces convert_joint_to_cart , convert_cart_to_joint have been added.
   7. New interfaces enter_position_control , exit_position_control , set_udp_feedback_params have been added.

4. The digital_signals class has been renamed to signals to simplify the name.

5. The execution class has added the execute_bas_script interface for executing scripts.

6. The jogging.move interface has been updated to include step value modification: move(*self*, *aj_num*: *int*, *move_mode*: MoveMode = None, *step_length*: *float* = 0) .

7. A new bas_script class has been added for generating scripts.

8. A new modbus class has been added for direct control of Modbus devices.

1.7.1.3 Update (2025/7/3)

1. Fixed the issue where the get_all_active_alarms interface might fail.
2. Fixed the internal parameter setting error in move_circle .
3. Updated the example programs.
4. Added the plugin management class, providing the extension.get_robot_ip interface.
5. Added interfaces related to trajectory reproduction.