arcor2_arserver

Environment variables

• ARCOR2_ARSERVER_PORT=6789 - by default, the service will listen on port 6789.
• ARCOR2_STREAMING_PERIOD=0.1 - controls the period of streaming a robot's EEF poses and joints.

Caching

• ARCOR2_ARSERVER_CACHE_TIMEOUT=1.0 - by default, ARServer checks for changes in scenes, projects or ObjectTypes max. once per second.
• ARCOR2_ARSERVER_CACHE_SCENES=32 - by default, ARServer keeps 32 last used scenes in its cache.
• ARCOR2_ARSERVER_CACHE_PROJECTS=64 - by default, ARServer keeps 64 last used projects in its cache.
• ARCOR2_ARSERVER_CACHE_OBJECT_TYPES=32 - by default, ARServer keeps 64 last used ObjectTypes in its cache.

Resources locking

• ARCOR2_ARSERVER_LOCK_TIMEOUT=300 - if a user do not log again within this timeout (in seconds), their locks are discarded.
  • Can be used to workaround 'Locking failed' issues - if set to some low value, it is sufficient to log out and after the locks got discarded, log in again.
• ARCOR2_ARSERVER_LOCK_RETRIES=13 - number of retries when trying to acquire the global lock.
• ARCOR2_ARSERVER_LOCK_RETRY_WAIT=0.15 - controls how long to wait between attempts to get the global lock.

Debugging

• ARCOR2_MAX_RPC_DURATION=0.1 - by default, a warning is emitted when any RPC call takes longer than 0.1 second.
• ARCOR2_ARSERVER_DEBUG=1 - switches logger to the DEBUG level.
• ARCOR2_ARSERVER_ASYNCIO_DEBUG=1 - turns on asyncio debug output (helpful to debug problems related to concurrency).
• ARCOR2_REST_DEBUG=1 - may be used to debug problems related to communication with the Project, Scene Build and Calibration services.

Changelog

The format is based on Keep a Changelog,

[1.3.0] - 2024-09-12

Changed

• Dependency on arcor2~=1.5.0.

[1.2.0] - 2024-04-11

Changed

• Updated dependencies, switched to Python 3.11.
• WriteLock RPC now does not return an error when a user tries to write-lock something already locked (by the same user).

[1.1.1] - 2024-01-23

Fixed

• InverseKinematics and ForwardKinematics RPCs were always returning Object not found error.

[1.1.0] - 2023-07-20

Changed

• Compatibility with arcor2 1.1.0 (object pose must now be updated with obj.set_pose(pose)).

[1.0.0] - 2023-02-14

Changed

• Dependency on arcor2 1.0.0.
• Compatibility with the newest version of the Project service.
• ARServer now also talks to Asset service (checks whether mesh/URDF exists).

[0.27.0] - 2022-12-12

Changed

• Dependency on arcor2~=0.26.0.

[0.26.0] - 2022-10-28

Changed

• Switched to Python 3.10, updated dependencies.

[0.25.0] - 2022-08-17

Changed

• Adaptation to changes in API of the Build service.
• Updated scene client (changed API).

[0.24.0] - 2022-04-25

Added

• New RPCs GetScene and GetProject.

[0.23.0] - 2022-01-25

Changed

• Breaking change of WebSockets API (ActionStateBefore event).
• Switched to Python 3.9, updated dependencies.

[0.22.1] - 2021-10-26

Changed

• Added HTTP upload server for logs from AREditor
  • Logs are uploaded to /root/logs (could be changed using ARCOR2_AREDITOR_LOGS_FOLDER env variable)

[0.22.0] - 2021-10-25

Changed

• When getting pose/joints from a robot fails, continue trying instead of giving up.
• Handle KinematicsException to deliver a more precise error message.
• Updating object models.
  • New RPC UpdateObjectModel.
  • Ability to lock individual ObjectTypes.
  • Various improvements regarding locking.
• Proper handling of scene/project problems.
  • Any problem makes scene/project invalid, and then it can't be opened.
  • Scene/project problems are now checked when:
    • Scene/project is listed.
    • Opening a scene/project is requested.
  • Found problems are cached for better performance.
  • ObjectTypes are checked for changes during each listing of scenes/projects.
• Deleting ObjectTypes reworked.
  • DeleteObjectType replaced with DeleteObjectTypes.
  • The new RPC takes list of ObjectType IDs.
  • Empty list means all ObjectTypes.
  • It returns list of id/error for types that could not be removed.
  • This is especially useful for usage with dry_run.
• Updated environment variables, please see README.
• Improved logging to debug 'Locking failed'.
• Support for virtual collision objects.
  • AddVirtualCollisionObjectToScene RPC creates a new OT and adds its instance to a scene.
  • In the simplest case, each collision object will have its own ObjectType.
  • But it is also possible to add more instances as with other types.
  • When the last instance of VCO is removed, ARServer also removes the ObjectType automatically.
• Ignoring hidden actions (a new flag in ActionMetadata).
• New RPC ObjectTypeUsage returning scene ids where the ObjectType is used.
• Support for debugging - relaying related RPCs to the Execution Service.
• Better handling of exceptions in asyncio tasks.
  • More useful traceback is printed out.
  • In development mode, an unhandled exception leads to shutdown of a service.
  • In production mode, traceback is printed out and the service tries to continue.

Fixed

• Ban HT mode changes while moving.
• Arguments for getting robot joints (only affected multi-arm robots).
• Handle locking exceptions on scene start/stop.
• Copying of action points.
  • Fixed locking within CopyActionPoint.
  • Fixed update of orientation IDs.
• Added locking to Project client to make the cache caching properly.
• modified was missing for disabled object.
  • This happened when it was not possible to get object's base.
• Copy AP - update of orientation ID in actions.
• Removed 'delayed' unlocking of resources which caused race conditions in some cases and made the crashes hard to debug.
• HT mode for single arm robots was broken.

[0.21.0] - 2021-08-05

Changed

• Locks are not automatically released when aiming is done or cancelled.
• Linear movements are used by default for stepping and table alignment.
• Joints stream (RobotJoints event) now contains also gripper joints when available (depends on the particular ObjectType).

Fixed

• Getting action results (the result was always False).
• ctx_read_lock made some RPCs impossible to success.
• Object parameters checking.
  • Values and types of object parameters were not checked at all.
  • For now, only basic types are supported.

[0.20.0] - 2021-07-29

Changed

• Support for multi arm robots.
  • Dealing with arm_id parameter in RPCs.
  • Streaming EEF poses for all arms.
• Allow to reposition scene objects while online.
  • It was allowed to reposition objects using robot,
  • ...but disallowed to do it manually.
  • This was inconsistent and unnecessarily restrictive.
  • Now objects (except robots) can be repositioned anytime.
• When creating a new project, common parameters are added automatically.
  • At the moment those are scene_id and project_id.
  • A user could use or remove them.
• Collisions are not removed after stopping the scene.
• ObjectType change detection is now based on modified instead of comparing source codes.
• ARServer Project service client now stores cached scenes/projects.
• Object aiming reworked.
  • RPCs were renamed and all of them now have dry_run.
  • There is a new method to cancel the process.
  • One user can be aiming one object at the moment.
  • Both the object and the selected robot have to be write-locked.
  • Improved logging.
  • Test was added.
• Server no longer downloads URDF packages.
  • ARCOR2_DATA_PATH environment variable is no longer used.
  • Clients will get URDFs through reverse proxy from Project service.
• NewObjectType no longer assumes that mesh already exists.
  • A file associated to mesh must exist in advance.

Fixed

• All calls to the Scene service are guarded against exceptions.
• Renaming of project parameters fixed.
  • It was possible to use already taken name.

[0.19.0] - 2021-06-22

• Update to API version 0.15.0.

[0.18.0] - 2021-06-11

Changed

• Updated to work with Project service 0.8.0.
• Allow fast re-login after connection was broken.
• Added locking to const-related RPCs.
• Log calibration-related errors.

Fixed

• Handle invalid ObjectType settings annotation.

[0.17.0] - 2021-05-21

Changed

• Return value of GetCameraPose RPC updated.
• Objects initialization order.
  • Object initialization order can be set using class-level INIT_PRIORITY variable.
  • The higher priority, the sooner are objects of that type initialized.
  • Initialization happens in parallel (for objects of the same priority).
• SetEefPerpendicularToWorld now calls IK in parallel.
  • This provides almost 100% speed-up even when the robot service proceeds requests one by one.
• Added locking of internal resources.

  • Created a lock module that allows to read/write lock existing or special objects. The module contains:

    • lock object with all necessary methods;
    • structures for keeping data about locked objects;
    • locking-related exceptions;
    • queue and task for notifying UI about lock data;
    • methods for auto-unlocking after timeout when user logouts.

  • Base tests of locking structure.

  • RPCs for (un)locking object, registering user name.

  • Events for (un)locking object.

  • Created a class for maintaining connected UIs.

  • Project methods to get object by ID, object parent and object children.

  • All RPCs that requires some kind of locking are now lock-guarded.

  • Updated existing tests to work with newly implemented locking.

  • Global variables SCENE, PROJECT and INTERFACES moved to new classes.

• Rewritten cache for the Project service.
  • The cache is now always on (provides a significant speed-up).
  • External updates to the Project service are recognized properly.
• New RPC AddApUsingRobot.
• Support for multiple inheritance.
  • ObjectTypes can now use mixins.
  • It should be used like class NewObjectType(MixinA, MixinB, Generic).
  • E.g. the last ancestor should be something derived from Generic.
• SetEefPerpendicularToWorld faster as it calls IK in parallel.

Fixed

• SceneState event was not sent to a newly connected UIs.
• Results of actions are now forgotten when going offline.
• Fixed support for link parameter type.

[0.16.0] - 2021-04-20

Fixed

• Action can't use its own result as a parameter (link parameter type).

Changed

• Dependency on arcor2 0.15.0 with updated REST client.
• Action parameter value is now always JSON.
  • It used to be a string for link/constant special types.

[0.15.1] - 2021-04-19

Fixed

• Dependency on bugfix release of arcor2.

[0.15.0] - 2021-03-30

Changed

• New RPC SetEefPerpendicularToWorld.
• New RPC StepRobotEef.

Fixed

• CopyActionPoint RPC: update action parameters to use copied orientations.
• Scene now goes offline before execution and to the original state after it.
• Scene-related messages adapted to a new terminology.

[0.14.0] - 2021-03-15

Changed

• Improved logging for debugging robot features.
• Suffix is added to copied AP/action instead of prefix.

Fixed

• Names for orientations/joints were not checked as valid identifiers.
• Action names were checked, but should not be.

[0.13.0] - 2021-03-03

Changed

• API to copy action point (including orientations, joints, child APs).
• Robot-related API (MoveToPose, MoveToJoints, MoveToActionPoint) updated in order to contain safe parameter.
• API to enable/disable robot hand teaching mode.
• Concrete and helpful error messages when a name entered by the user is refused.

Fixed

• Only BareActionPoint was sent on parent change.

[0.12.0] - 2021-02-08

Changed

• Improved scene-related messages.
  • Error messages now contain the name of the object which caused the error.
• New MarkersCorners RPC for getting markers corners.
• Support for an parameter (explicit parameters).
• Improved check of action signature and annotation.
• New WS API for execution state reporting.
• Support for project constants.
  • Only basic types are supported so far.

Fixed

• Better handling of missing collision model.
  • If server can't get collision model of the object, the object is disabled.
  • Previously, this situation caused crash of the server.
• GetCameraPose callback fixed (used to be Calibration).

[0.11.0] - 2020-12-14

Changed

• Improved support for logic branching.
  • So far, only boolean outputs are supported.
• Improved handling of return values (uses the same function as the main script).
• The internal database of ObjectTypes in updated each time before opening a scene or a project.
  • Changes are notified using ChangedObjectTypes event (one event for added objects, one for updated and another one for deleted ones).
• Support for camera/robot calibration.
• Initial support for cameras (getting images, camera parameters).

[0.10.1] - 2020-10-30

Changed

• RPC for IK/FK.

[0.10.0] - 2020-10-22

Changed

• Updated due to a breaking change in arcor2_execution_data.

[0.9.1] - 2020-10-19

Changed

• ARCOR2 dependency updated

Fixed

• fixed check for existing override

[0.9.0] - 2020-10-16

Changed

• WS API for updates of scene objects parameters and management of project-defined overrides.
• Integration tests refactored into multiple modules that can run in parallel.
• UpdateObjectPose and UpdateActionPointPosition now has dry_run.
• Box/Cylinder/Sphere models now have some constraints on their dimensions.

[0.8.0] - 2020-09-24

Changed

• The first release of the separated package.
• RPC/Events refactored.
• ARServer script now has --openapi argument and is able to generate OpenAPI models for RPCs and events.
• Detection of loops in: AP hierarchy, logic.
• Caching client for Project service.
• Proper handling of object inheritance.
• ObjectTypes are stored in temporary module on disk.
• Integration tests.