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ARCOR2 Dobot service

Project description


Environment variables

  • ARCOR2_DOBOT_URL= - by default, the service listens on port 5018.
  • ARCOR2_DOBOT_MODEL=magician - can be set to magician or m1.
  • 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.


The format is based on Keep a Changelog,

[1.0.0] - 2023-02-14


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

[0.6.0] - 2022-10-28


  • Switched to Python 3.10, updated dependencies.

[0.5.1] - 2022-09-08


  • DobotGeneral had wrong ancestor.
  • moveType default value.

[0.5.0] - 2022-09-02


  • 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.


  • New exception classes

[0.4.1] - 2022-02-17


  • 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.


  • In mock-mode, cleanup was throwing AttributeError.

[0.4.0] - 2022-01-25


  • Support for conveyor belt.


  • Suction is switched off during stop.

[0.3.0] - 2021-10-25


  • 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


  • EEF orientation.
  • State controller paths.

[0.2.2] - 2021-03-17


  • Suction offset for M1 adjusted

[0.2.1] - 2021-03-15


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

[0.2.0] - 2021-03-03


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

[0.1.0] - 2021-02-08


  • Initial release of the Dobot service.

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