V3.3 Documentation and Interface Change Notes

This document applies only to A3-Ultra software version 3.3.x.

V3.3 Documentation Updates

V3.3 Interface Change Notes

This changelog lists the API changes introduced in this version, as well as other updates that may significantly affect secondary development. Incompatible changes are highlighted in bold.

1. Motion Control
   • Added arm compliance interfaces. Enabling arm compliance improves the control accuracy of /motion/control/arm_joint_command.
2. System Status
   • Added an active emergency stop interface for actively stopping robot motion.
3. Sensor Data
   • Added directories for querying sensor intrinsic and extrinsic parameters, making these parameters easier to locate.
4. Secondary Development Program Deployment
   • Updated to the new development toolchain to improve development efficiency.
5. Quick Start
   • Corrected the wired ROS2 communication method to improve communication stability.

Issue Feedback Channel

If you encounter bugs in the secondary development interfaces, you can submit feedback through the following channel:

https://agirobot.feishu.cn/share/base/form/shrcnLP2tv9gzyrZ2tSDlm1Baif

Note

This channel is only for questions and bug reports related to secondary development interfaces. For robot hardware failures, after-sales maintenance, or similar issues, please contact the relevant delivery, operations, or after-sales teams directly. Unrelated issues will not receive a response. Please describe the issue in detail in the form, preferably with reproducible steps. Reports with sufficient information and clear descriptions will be prioritized. Vague or overly general reports may be assigned lower priority and may be ignored. Please fill in all required information carefully. Tickets with inconsistent or casually entered information may be ignored. Each ticket should focus on a single issue or a single category of issues. Please do not combine multiple issues into one ticket, as this will significantly delay processing.