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ARCOR2 - Augmented Reality Collaborative Robot.

Project description

arcor2

Changelog

The format is based on Keep a Changelog,

[0.10.0] - WIP

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.

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