diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0a2da0f..3af3a43 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # ChangeLog for pymycobot
 
+## v3.0.0 (2022-12-9)
+
+- release v3.0.0
+- Fix MyBuddy interface problems: get_base_coords()、set_gripper_state()
+- Add 7-axis myArm interface
+
 ## v2.9.9 (2022-11-29)
 
 - release 2.9.9
diff --git a/pymycobot/Interface.py b/pymycobot/Interface.py
index 163711e..42496d3 100644
--- a/pymycobot/Interface.py
+++ b/pymycobot/Interface.py
@@ -716,14 +716,15 @@ def get_gripper_value(self, id):
         """
         return self._mesg(ProtocolCode.GET_GRIPPER_VALUE, id, has_reply=True)
 
-    def set_gripper_state(self, id, flag):
+    def set_gripper_state(self, id, flag, sp):
         """Set gripper switch state
 
         Args:
             id: 1/2 (L/R)
-            flag  (int): 0 - close, 1 - open
+            flag  (int): 0 - open, 1 - close
+            sp: int (1 - 100)
         """
-        return self._mesg(ProtocolCode.SET_GRIPPER_STATE, id, flag)
+        return self._mesg(ProtocolCode.SET_GRIPPER_STATE, id, flag, sp)
 
     def set_gripper_value(self, id, value, speed):
         """Set gripper value
diff --git a/pymycobot/__init__.py b/pymycobot/__init__.py
index 3308893..88f79a3 100644
--- a/pymycobot/__init__.py
+++ b/pymycobot/__init__.py
@@ -43,7 +43,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.0.0b2"
+__version__ = "3.0.0"
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"
diff --git a/pymycobot/generate.py b/pymycobot/generate.py
index f95c9d5..c539cd2 100644
--- a/pymycobot/generate.py
+++ b/pymycobot/generate.py
@@ -175,6 +175,7 @@ def is_power_on(self):
         return self._mesg(ProtocolCode.IS_POWER_ON, has_reply=True)
 
     def release_all_servos(self):
+        """Relax all joints"""
         return self._mesg(ProtocolCode.RELEASE_ALL_SERVOS)
 
     def is_controller_connected(self):
@@ -653,10 +654,8 @@ def get_digital_input(self, pin_no):
         """singal value"""
         return self._mesg(ProtocolCode.GET_DIGITAL_INPUT, pin_no, has_reply=True)
 
-    """
-    def set_pwm_mode(self, pin_no, channel):
-        self._mesg(Command.SET_PWM_MODE, pin_no, channel)
-    """
+    def set_pwm_mode(self, mode):
+        return self._mesg(ProtocolCode.SET_PWM_MODE, mode)
 
     def set_pwm_output(self, channel, frequency, pin_val):
         """ PWM control 
diff --git a/pymycobot/myarm.py b/pymycobot/myarm.py
index 7714ece..864ce85 100644
--- a/pymycobot/myarm.py
+++ b/pymycobot/myarm.py
@@ -111,7 +111,8 @@ def _mesg(self, genre, *args, **kwargs):
                 ProtocolCode.GET_JOINT_MIN_ANGLE,
                 ProtocolCode.GET_JOINT_MAX_ANGLE,
                 ProtocolCode.GET_FRESH_MODE,
-                ProtocolCode.GET_GRIPPER_MODE
+                ProtocolCode.GET_GRIPPER_MODE,
+                ProtocolCode.SET_SSID_PWD
             ]:
                 return self._process_single(res)
             elif genre in [ProtocolCode.GET_ANGLES]:
@@ -222,3 +223,31 @@ def set_solution_angles(self, angle, speed):
     def get_solution_angles(self):
         """Get zero space deflection angle value"""
         return self._mesg(ProtocolCode.GET_SOLUTION_ANGLES, has_reply=True)
+    
+    def release_all_servos(self, data):
+        """Relax all joints
+        
+        Args:
+            data: 1 - Undamping (The default is damping)
+        """
+        return self._mesg(ProtocolCode.RELEASE_ALL_SERVOS, data)
+            
+    def get_transpoendr_mode(self):
+        """Obtain the configuration information of serial transmission mode
+        
+        Return:
+            mode: 0 - 1 - 2
+        """
+        return self._mesg(ProtocolCode.SET_SSID_PWD, has_reply=True)
+    
+    def set_transpoendr_mode(self, mode):
+        """Set serial port transmission mode
+        
+        Args:
+            mode: 
+                0 - Turn off transparent transmission.\n
+                1 - Turn on transparent transmission. verify all data.\n
+                2 - Turn on transparent transmission, only verify the configuration information of communication forwarding mode (default is 0)
+        """
+        return self._mesg(ProtocolCode.GET_SSID_PWD, mode)
+        
\ No newline at end of file
diff --git a/pymycobot/mybuddy.py b/pymycobot/mybuddy.py
index 598319f..3061fe8 100644
--- a/pymycobot/mybuddy.py
+++ b/pymycobot/mybuddy.py
@@ -168,7 +168,7 @@ def _mesg(self, genre, *args, **kwargs):
                     return self._int2coord(res[0]) if res else None
                 else:
                     return self._int2angle(res[0]) if res else None
-            elif genre in [ProtocolCode.GET_COORDS, ProtocolCode.GET_TOOL_REFERENCE, ProtocolCode.GET_WORLD_REFERENCE, ProtocolCode.GET_BASE_COORDS, ProtocolCode.GET_BASE_COORD, ProtocolCode.BASE_TO_SINGLE_COORDS]:
+            elif genre in [ProtocolCode.GET_ALL_BASE_COORDS, ProtocolCode.GET_COORDS, ProtocolCode.GET_TOOL_REFERENCE, ProtocolCode.GET_WORLD_REFERENCE, ProtocolCode.GET_BASE_COORDS, ProtocolCode.GET_BASE_COORD, ProtocolCode.BASE_TO_SINGLE_COORDS]:
                 if res:
                     r = []
                     for idx in range(3):