arcor2-mocks 0.17.1

Mocks for services developed by Kinali.

arcor2_mocks

Environment variables

• ARCOR2_PROJECT_SERVICE_MOCK_PORT=5012 - by default, the Project mock listens on port 5012.
• ARCOR2_SCENE_SERVICE_MOCK_PORT=5013 - by default, the Scene mock listens on port 5013.
• ARCOR2_REST_API_DEBUG=1 - turns on Flask debugging (logs each endpoint call).

Scene Service Mock

• ARCOR2_SCENE_DEBUG=1 - turns on debug logging.
• ARCOR2_SCENE_INFLATION=0.01 - controls how much in meters are collision models inflated (for simple collision checking).
• ARCOR2_MOCK_SCENE_DELAY_MEAN=0 and ARCOR2_MOCK_SCENE_DELAY_SIGMA=0 can be used to simulate long-lasting startup of the scene (with some randomness). May be useful for debugging.

Changelog

The format is based on Keep a Changelog,

[0.17.1] - 2022-02-17

Added

• Simple collision checking on Scene Service Mock using Open3D ray-casting.
  • Checks whether there is collision between two points.
  • So far works only for primitive models.
  • Amount of (safety) inflation (in meters) can be controlled by -i argument or by ARCOR2_SCENE_INFLATION. Default value is 0.01.
• Debug logging can be turned on by adding -d or setting ARCOR2_SCENE_DEBUG.

[0.17.0] - 2021-10-25

Changed

• Dependency on arcor2==0.21.0.

Fixed

• Handling of created property.

[0.16.0] - 2021-07-29

Changed

• Compatibility with Project service 0.10.0.
• Compatibility with Scene service 0.5.0.

[0.15.0] - 2021-06-11

Changed

• Updated to match API of Project service 0.8.0.

[0.14.0] - 2021-05-21

Changed

• Updated to match API of Project service 0.7.0.

[0.13.0] - 2021-04-20

Fixed

• Methods from System controller missed OpenAPI definition.

Changed

• Configurable delay on start/stop.
  • Scene mock can simulate that start and stop take some time.
  • Mean time can be set using ARCOR2_MOCK_SCENE_DELAY_MEAN.
  • ARCOR2_MOCK_SCENE_DELAY_SIGMA sets the sigma of normal distribution.

[0.12.0] - 2021-03-03

Changed

• Methods to store/get mesh files were added to the mock Project.

[0.11.0] - 2021-02-08

Changed

• Part of the code refactored into arcor2/flask.py.
• Update of 3rd party dependencies.

[0.10.0] - 2020-12-14

Changed

• Scene service mock updated to match Scene 0.4.0.

[0.9.1] - 2020-10-19

Changed

• ARCOR2 dependency updated

[0.9.0] - 2020-10-16

• Scene Service Mock updated to match Scene Service version 0.3.0.

[0.8.0] - 2020-09-23

Changed

• Mocks updated to match Project 0.4.0 and Scene 0.2.0.