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ARCOR2 Runtime.

Project description


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.


The format is based on Keep a Changelog,

[1.0.0] - 2023-02-14


  • 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.


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

[0.5.0] - 2022-12-12


  • Dependency on arcor2~=0.26.0.

[0.4.0] - 2022-10-28


  • Switched to Python 3.10, updated dependencies.

[0.3.2] - 2022-08-17


  • Update of scene client.

[0.3.1] - 2022-08-15


  • Updated dependencies to match the released arcor2 package.

[0.3.0] - 2022-01-25


  • @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


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

[0.2.1] - 2021-11-08


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

[0.2.0] - 2021-11-01


  • 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


  • The first release of the package.

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