arcor2_runtime

The stuff that is required by the main script.

Environment variables

• ARCOR2_STREAMING_PERIOD=0.1 - controls the period of streaming a robot's EEF poses and joints.

Changelog

The format is based on Keep a Changelog,

[1.4.0] - 2024-08-14

Added

• There are optional callbacks for pause and resume events in the action.Globals.

[1.3.0] - 2024-06-14

Changed

• It is now possible to run actions in threads.

Fixed

• It was not possible to use Pose as a breakpoint.

[1.2.0] - 2024-04-11

Changed

• Updated dependencies, switched to Python 3.11.

[1.1.0] - 2024-01-08

Changed

• Parameter interact_with_scene_service added to the Resources class.

[1.0.0] - 2023-02-14

Changed

• ResourcesException - __context__ is now set to a first exception occurred during script initialization.
  • All exceptions that occurred during parallel initialization are still available in the exceptions array.

Added

• Resources class has a scene_start_timeout argument which is handed over to the Scene client.

[0.5.0] - 2022-12-12

Changed

• Dependency on arcor2~=0.26.0.

[0.4.0] - 2022-10-28

Changed

• Switched to Python 3.10, updated dependencies.

[0.3.2] - 2022-08-17

Changed

• Update of scene client.

[0.3.1] - 2022-08-15

Changed

• Updated dependencies to match the released arcor2 package.

[0.3.0] - 2022-01-25

Changed

• @action decorator updated to work with updated ActionStateBefore, where all properties are now optional.
  • Moreover, it now sends IDs of action points, that are used as parameters of actions, which is especially useful for projects without actions (actions are hand-coded).
• Switched to Python 3.9, updated dependencies.

[0.2.2] - 2021-11-15

Fixed

• Propagate error messages and related underlying exceptions when the initialization of objects fails.

[0.2.1] - 2021-11-08

Fixed

• Fixed mutual dependency between arcor2_execution_data and arcor2_runtime (package.py moved to arcor2_runtime).

[0.2.0] - 2021-11-01

Changed

• There is a new parameter apply_action_mapping allowing to disable application of action mapping.
  • This is useful for cases when actions are not defined in project.json.

[0.1.0] - 2021-10-25

Changed

• The first release of the package.