arcor2

Changelog

The format is based on Keep a Changelog,

[1.5.0] - 2024-09-12

Changed

• Added a new universal dataclass InverseKinematicsRequest for IK requests (simplifies HTTP requests).

[1.4.0] - 2024-06-14

Changed

• Optional thread_id added to ActionStateBefore - the value is supposed to be set for any action running on a thread other than main.

[1.3.0] - 2024-04-11

Changed

• Updated dependencies, switched to Python 3.11.

[1.2.0] - 2024-01-26

Added

• save_type_def helper function.

[1.1.0] - 2023-07-20

Added

• Few new helper functions.

Changed

• Object pose is now not set using a property setter but using the set_pose method.

[1.0.0] - 2023-02-14

Changed

• Updated dependencies.
• Compatibility with the Project service 1.0.0.
  • Mesh dataclass: data_id changed to asset_id.
  • Updated client (some paths were changed).

Added

• Method start from the Scene service client now allows to specify a timeout.

[0.26.0] - 2022-12-12

Changed

• Optional property end_effector_id added to ProjectRobotJoints.

[0.25.0] - 2022-10-28

Changed

• Switched to Python 3.10, updated dependencies.
• Removed unused children property from SceneObject.
• Removed unused assets-related functions from Project service client.

[0.24.2] - 2022-08-29

Changed

• REST client updated, so it is possible to specify a filename when, e.g., uploading a file to the Project service.

[0.24.1] - 2022-08-17

Changed

• Target REST endpoints for arcor2.clients.scene_service updated to match new API convention.
  • /collisions/{model_type}/{model_id} changed to /collisions/{model_type}, model_id moved to request parameters as {model_type}Id.
  • /transforms/{transform_id}/local-pose changed to /transforms/{transform_id}/pose/local.
  • /transforms/{transform_id}/world-pose changed to /transforms/{transform_id}/pose/world.

[0.24.0] - 2022-07-08

Changed

• BREAKING: data.common.WebApiError is now JSON based exception.

  • Property errors was removed.
  • New properties type, description and optional content.

• BREAKING: flask.FlaskException class updated.

  • FlaskException does no longer accept message and error code, but only message and optional context.
  • New service and description properties should be overridden by subclasses.
  • Exception instances are now convertible to JSON.

• BREAKING: Flask API error handlers return 500 error code for any error. WebApiError JSON object is supplied in response body.

• BREAKING : rest.WebApiException, rest.RestHttpException class gone. WebApiError and RestException are raised instead. No HTTP code is supplied as the only possible error code is 500.

• BREAKING : scene_service client changed.

  • world_pose now call .../world-pose instead of .../worldPose.
  • local_pose now call .../local-pose instead of .../localPose.
  • line_check now call .../line-safe instead of .../lineSafe.
  • upsert_collision model id moved from query parameters to path.

Added

• New WebApiErrorFactory class was implemented to generate service specific WebApiError schemas for swagger documentation.

• flask.run_app now accept optional dependencies argument.

[0.23.1] - 2022-02-17

Added

• Simple collision checking.
  • Related dataclasses were added.
  • New function in scene_service client.

[0.23.0] - 2022-01-25

Changed

• BREAKING: ActionStateBefore event updated.
  • Properties action_id and parameters are now optional.
  • New optional property action_point_ids.
• Switched to Python 3.9, updated dependencies.

[0.22.0] - 2021-10-25

Changed

• New abstract base class VirtualCollisionObject.
  • Meant as a base for 'dumb' collision objects, with primitive models, without any functionality, e.g. for safety 'walls' around the cell.
• ActionMetadata updated.
  • Removed useless properties (blocking, blackbox).
  • Added a new property hidden (UIs shall silently ignore those actions).
• Dropped support for RelativePose action parameter type.
• Handle all errors when importing stuff (import_type_def).
  • This is needed for instance in case of obsolete ObjectTypes.
  • ...when e.g. parameters of ActionMetadata were changed.
  • Otherwise outdated OT might raise TypeError or similar exceptions.
• New (optional) properties added to BareActionPoint (compatibility with Project service 0.14.0 or newer).
• Added FlowActions ObjectType, providing is_first_pass action which is useful to perform the initialization step.

Fixed

• Action point transformations (reparenting).
  • When AP1 from object -> AP1 -> AP2 was made global, AP2 was not updated properly.
  • When AP1 was made relative again, AP2 was again not updated.

[0.21.0] - 2021-09-07

Changed

• Added Robot specific exception KinematicsException.
  • So far used to give more precise error messages.
• ProjectParameter now derives from Parameter.
• CachedScene now caches ObjectTypes used in a scene.
• Logs are now colored.
• Project now has optional project_objects_ids property (not used at the moment).

Fixed

• Make sure that Pose contain only floats.
  • When any value is e.g. np.float64, orjson complains.
  • Because of this, to_dict methods of Position and Orientation are overridden.
• Typo in URL within get_models of project_service client.
• Missing sleep in wait_for of scene_service client.

[0.20.0] - 2021-08-05

Changed

• Object hierarchy modified.
  • GenericWithPose now can't have a collision model.
  • A new CollisionObject must have collision model.
• Robot base class API changed.
  • Parameter linear was added to move_to_pose.
    • A robot not supporting linear movements should raise exception when linear==True.
  • Parameter include_gripper was added to robot_joints.
    • By default, the method should return only arm's joints.
    • With the parameter set, the list should contain also gripper joints.
    • This is needed for visualization of grippers.
    • Makes only sense (so far) when gripper is part of URDF.
• Scene/Project clients now log underlying error messages.

Fixed

• rest module now encodes body data as utf-8.

[0.19.0] - 2021-07-29

Changed

• Support for multi arm robots.
  • New base class MultiArmRobot.
  • Its methods have an additional arm_id parameter.
  • There is a method to get arm IDs.
  • Relevant ARServer RPCs were extended with arm_id.
  • ProjectRobotJoints model now also contains arm_id.
  • There is DummyMultiArmRobot ObjectType for testing purposes.
• CachedProject: constants renamed to parameters.
• Generic: INIT_PRIORITY removed as useless.
• GenericWithPose: do not delete collision models in cleanup.
  • Collision models are removed by the Scene service on stop.
• Usage of orjson in arcor2/json and for dataclasses.
  • 40% speedup for serialization.
  • 80% speedup for deserialization.
  • Tested on Project dataclass.
• Compatibility with Project service 0.10.0.
• Compatibility with Scene service 0.5.0.
• Uploading of meshes associated to ObjectTypes.
  • Parameter file_to_upload was added to upload_def.

Fixed

• Correct default port for Project service (10000).

[0.18.0] - 2021-06-14

Changed

• Modules package and resources moved to arcor2_execution_data.

[0.17.0] - 2021-06-11

Changed

• Project service client updated to API version 0.8.0.
• ARCOR2_PERSISTENT_STORAGE_URL renamed to ARCOR2_PROJECT_SERVICE_URL.
• Dependencies updated.

[0.16.0] - 2021-05-21

Changed

• Objects initialization order (Resources):
  • Object initialization order can be set using class-level INIT_PRIORITY variable.
  • The higher priority, the sooner are objects of that type initialized.
  • Objects are initialized serially.
• CachedProject has new methods to deal with hierarchy (get_by_id, get_parent_id, childs).
• Project service client updated to be compatible with version 0.7.0.
• Added a custom json module.
  • Wraps the standard json module, so it might be easier to replace it in the future.
  • Provides type annotations.
  • Raises a custom exception based on Arcor2Exception.

Fixed

• Handling of context manager arguments in Resources.

[0.15.0] - 2021-04-20

Changed

• REST client now handles all codes >= 400 as errors.

[0.14.1] - 2021-04-19

Fixed

• Save and import of ObjectType was randomly failing because of race condition.

[0.14.0] - 2021-03-30

Changed

• Improved code for transforming poses.
• Use monkey patching instead of custom released version of dataclasses_jsonschema.
• Switched to builtin ast module instead of horast - much faster builds, etc.
• Added states Stopping and Pausing to PackageState.Data.StateEnum.
  • This is because it may take some time to pause or stop a package.
  • Other operations (as e.g. resume) are almost instant.

Fixed

• Resources are now not sending KeyboardInterrupt as event.
• import_type_def now provides better error messages when import fails.
• Save and import of ObjectType was randomly failing.

[0.13.0] - 2021-03-15

Changed

• IDs (uuid) are now generated within the respective classes.
  • If necessary, ID can be still provided from outside as before.
  • IDs are prefixed so developers can easily check type of an object from its ID.
  • Prefix always start with a character.

Fixed

• Composite actions are now properly handled by the @action decorator.

[0.12.1] - 2021-03-08

Fixed

• Pose parameter plugin fixed to generate correct code in a case when action on action point A uses orientation from action point B.

[0.12.0] - 2021-03-03

Fixed

• Parameter plugins now return copy of the parameter in order to prevent changes in the project if the value is modified e.g. within an action.
• Method update_project_sources of the Project service client was fixed.

Changed

• Flask-based apps now don't log each API call by default.
  • It can be turned on by setting ARCOR2_REST_API_DEBUG.
• The rest module has a new exception type RestHttpException for getting HTTP error codes.
• is_valid_identifier now behaves the same as is_valid_type, it does not insist on convention (PascalCase vs snake_case) and provides concrete error messages.
• Robot API now has safe parameter.
• Robot now has API for hand teaching mode.
• Line length of generated code changed from 80 to 120.

[0.11.1] - 2021-02-09

Fixed

• @action decorator fixed.
• KeyError was raised when an parameter was not given to an action.
• This only happened in the "manual" script writing scenario and when patch_object_actions was used.

[0.11.0] - 2021-02-08

Changed

• Explicit action parameters.
  • Resources class now do not need to deal with parameters.
  • Update of ObjectTypes (all actions now have the mandatory an parameter).
• CurrentAction removed, ActionState divided into ActionStateBefore and ActionStateAfter.
• New module with shared code for Flask-based apps.
• Updates of 3rd party dependencies.
• WS server now logs too long RPCs.
  • Max. duration could be configured using ARCOR2_MAX_RPC_DURATION.

Fixed

• At a startup, the main script now checks if the scene is running before attempt to stop it.
• image_from_str function fixed.

[0.10.0] - 2020-12-14

Changed

• action decorator now handles outputs of actions.
• CachedProject has new methods for handling project logic.
• ActionState event now contains action results.
• New built-in ObjectTypes RandomActions.
• Parameter plugins slightly reworked, some new helper functions.
• If a robot has URDF, it is zipped and uploaded to the Project service).
  • ...as a mesh file, which is workaround for missing storage of URDF models.
• Scene service client updated to support version 0.4.0.
• New built-in abstract ObjectType Camera.
• Initial support for loading of URDF files.
• Some first tests for parameter plugins were added.

[0.9.2] - 2020-10-30

Fixed

• parse function now also catches ValueError exception.
• check_object_type now tries to parse whole module instead of just source of the class itself.

Changed

• Robot base class now have methods for IK/FK.
• It is possible to use == on Position instances.

[0.9.1] - 2020-10-19

Fixed

• package_version was ignoring package argument

[0.9.0] - 2020-10-16

Changed

• Scene client updated for Scene 0.3.0.
• Exceptions refactored (BREAKING).
  • Arcor2Exception no longer has message property
  • There is a new package arcor2/exceptions.
  • Clients using handle decorator now have specific error messages defined.
  • Previously generated execution packages will become broken as print_exception function was moved
• Loggers are now created using functions from logging module.
• rest module rewritten (BREAKING).
  • Now there is only one method call which takes http method as an argument.
  • There is ARCOR2_REST_DEBUG environment variable. When set, debugging logs are turned on.

Fixed

• JSON containing only boolean value was not handled properly by arcor2.rest module.

[0.8.0] - 2020-09-24

Changed

• Reorganisation of the repository - switched to monorepo based on Pants. The code was divided into more packages (that can be separatelly relased) within one repository.
• Tests now run on GitHub instead of CircleCi.
• Unification of objects and services
  • There is Generic base class for objects without pose, GenericWithPose for objects with pose and Robot class that should be base class for every robot.
• Integration of scene service (0.2.0).
• @action decorator is now added automatically in the run-time.
• Orientation dataclass now performs quaternion normalization in __post_init__.
• Robot base class now has _move_lock mutex to ensure that only one move-action is called at the time.

[0.8.0rc2] - 2020-09-16

[0.8.0rc1] - 2020-09-15

[0.8.0b8] - 2020-08-21

Fixed

• Some robot-related issues fixed

[0.8.0b7] - 2020-08-12

Changed

• Scene service client: 'upsert_collision' now has optional 'mesh_parameters': parameter.

[0.8.0b6] - 2020-08-03

Changed

• New logic representation
• Unification of objects and services
• Integration of scene service

[0.7.1] - 2020-07-15

Fixed

• Fix of broken python package arcor2 0.7.0

[0.7.0] - 2020-07-15

Changed

• ARServer: new RPC 'TemporaryPackage'
• ARServer: RPC ObjectTypesChangedEvent renamed to ChangedObjectTypesEvent, now contains changed ObjectTypes meta instead of just type names
• ARServer: ShowMainScreenEvent.
• Package name added to PackageInfoEvent
• ARServer now compares its API_VERSION with API_VERSION of the Execution.
• ARServer: ShowMainScreenEvent will now not contain 'highlight' when sent to a newly connected UI.
• AP can now have another AP as parent
• rest: OptionalData now may contain list of primitive type.
• Execution: PackageStateEvent now contains package_id
• Execution: added 'executed' to PackageMeta

[0.6.0] - 2020-06-19

Changed

• Build/Execution proxy: allow port change using env. var.
• ARServer: RenameScene RPC now checks if scene name is unique and 'dry_run' works.
• ARServer: ListScenes/ListProjects now contain 'modified'.
• ARServer: DeleteObjectType RPC added.
• @action decorator is now compatible with Windows.
• Service class now has 'cleanup' method which is called when scene is closed or when script ends. Call of 'cleanup' can be disabled by 'export ARCOR_CLEANUP_SERVICES=False' - this is particularly useful when running the script manually again and again.
• Cleanup method for ObjectTypes.

[0.5.1] - 2020-06-04

Fixed

• ignoring check of return parameters
• allowing list of strings as request body

[0.5.0] - 2020-06-01

Changed

• ARServer container need to setup new env variable using docker-compose -> ARCOR2_DATA_PATH=/root/data
• ListProjects RPC now gets projects in parallel.
• dry_run parameter for selected RPCs
• EEF pose/robot joints streaming
• OpenScene, OpenProject, SceneClosed, ProjectClosed events.
• Execution proxy: use persistent websocket connection.
• SceneCollisionsEvent merged into PackageInfoEvent
• ARServer: RPC to cancel action execution.
• Execution package now contains package.json with its metadata. Execution service now supports renaming of packages.

[0.4.3] - 2020-05-22

Changed

• added support for CORS

[0.4.2] - 2020-04-27

Fixed

• Fix of functions to transform relative poses to absolute and vice versa

[0.4.1] - 2020-04-22

Added

• New RPCs for getting robot joints and effector pose
• New RPC to get IDs of EE and suctions
• Added pivot enum for UpdateObjectPoseUsingRobot

Fixed

• Fix of remove action RPC
• Another fixes

[0.4.0] - 2020-04-17

Changed

• Complete redesign of RPC for ARClients (AREditor atm)
• Documentation of execution and build API
• Support for project service 0.2.0
• New and updated events
• Enhanced error messages
• Create (global) session to enable reuse of connections.

[0.3.0] - 2020-03-24

Changed

• Renamed RobotJoints to ProjectRobotJoints and ModelTypeEnum to Model3dType
• Added new services for Time and Logic related actons
• Added boolean parameter plugin
• Description, returns and origins fields marked as optional
• New event - ActionResult
• Separated script enabling discovery through UDP broadcast
• Support for list params
• Services and Action objects are now marked as disabled when some problem occured and error message is passed to GUI (previously such services/objects were ignored)
• Services with no configuration are disabled

[0.2.1] - 2020-02-28

Fixed

• Added compatibility with Project service v 0.1.1
• Param values and defaults are strings now
• min, max stored in extra as JSON string

[0.2.0] - 2020-02-20

Changed

• ExecuteAction RPC.
• Uuid for action object/point/action.
• Execution proxy PUT method
• ActionPoint class in execution package
• Removed loop in main script, when hasLogic == false
• Parameter values not send in currentAction event
• ProjectState RESUMED removed
• Execution: print out script output if not JSON.
• Joint: rotation -> value

[0.1.7] - 2019-12-24

Fixed

• Build: disable caching

[0.1.5] - 2019-12-22

Fixed

• Parameter plugins

[0.1.4] - 2019-12-18

Fixed

• Parameter of type relative_pose now accepts json string as value

[0.1.3] - 2019-12-18

Fixed

• N/A

[0.1.2] - 2019-12-17

Fixed

• bump docker version

[0.1.1] - 2019-12-17

Fixed

• bump docker version

[0.1.1] - 2019-12-12

Fixed

• N/A

[0.1.0] - 2019-12-12

Changed

• Separation of services.