arcor2_dobot

Environment variables

• ARCOR2_DOBOT_URL=http://0.0.0.0:5018 - by default, the service listens on port 5018.
• ARCOR2_DOBOT_MODEL=magician - can be set to magician or m1.
• ARCOR2_DOBOT_BIAS_X (as well as _Y and _Z) - sets EEF parameters (offset), default value is 0.
• ARCOR2_DOBOT_MOCK=1 - the service will start in a mock (simulator) mode.
  • Please note that the mock mode is fully functional only for magician. The m1 does not have IK/FK implemented yet. ARCOR2_DOBOT_DEBUG=1 - turns on debug logging.

Changelog

The format is based on Keep a Changelog,

[1.3.0] - 2024-04-11

Changed

• Updated dependencies, switched to Python 3.11.

[1.2.0] - 2024-03-26

Changed

• Setting belt distance is now blocking operation.

[1.1.1] - 2024-02-20

Fixed

• Biases are now converted to millimeters when sent to robot.

[1.1.0] - 2024-02-08

Changed

• Added ARCOR2_DOBOT_BIAS_X, ARCOR2_DOBOT_BIAS_Y, ARCOR2_DOBOT_BIAS_Z env. variables to set EEF parameters - offset, which is different for different tools.

[1.0.0] - 2023-02-14

Changed

• Marked as a stable version.
• Health check end-point changed to /healthz/ready.

[0.6.0] - 2022-10-28

Changed

• Switched to Python 3.10, updated dependencies.

[0.5.1] - 2022-09-08

Fixed

• DobotGeneral had wrong ancestor.
• moveType default value.

[0.5.0] - 2022-09-02

Changed

• BREAKING: Implement new error handling flow. Error codes of every endpoint were replaced with error types as described in swagger documentation.
• Updated API description.
• Model and port are now set using environment variables.

Added

• New exception classes

[0.4.1] - 2022-02-17

Added

• Support for safe movements.
  • Connection to Scene Service Mock needed.
  • New parameter safe for PUT /eef/pose.
  • For JOINT and JUMP movements: add intermediate points with higher z, if there might be a collision.
  • For LINEAR: raise an exception if there might be collision.
• Debug logging can be turned on by adding -d or setting ARCOR2_DOBOT_DEBUG.

Fixed

• In mock-mode, cleanup was throwing AttributeError.

[0.4.0] - 2022-01-25

Added

• Support for conveyor belt.

Changed

• Suction is switched off during stop.

[0.3.0] - 2021-10-25

Changed

• New environment variable ARCOR2_DOBOT_MOCK to start the service in a mock mode.
• Classes updated to match Robot (new argument include_gripper).
• Handle DobotApi exceptions to produce nice error messages.
• Use HTTP code 204 instead of 200 where it makes sense.

[0.2.3] - 2021-05-21

Fixed

• EEF orientation.
• State controller paths.

[0.2.2] - 2021-03-17

Fixed

• Suction offset for M1 adjusted

[0.2.1] - 2021-03-15

Fixed

• Dobot axis Z is in mm
• Added fixed offset for suction

[0.2.0] - 2021-03-03

Changed

• Integration of pydobot library (own modified fork).
• API for hand teaching mode.

[0.1.0] - 2021-02-08

Changed

• Initial release of the Dobot service.