Raya - Unlimited Robotics Python Library
Project description
Raya - Unlimited Robotics Python Library
Documentation: https://documentation.unlimited-robotics.com/
Release Notes
v0.7.0
UR DDS-Robot Bridge compatible version: 0.4.9-dev
DDS Interface compatible version: 0.4.9-dev
enable_restful_mode
renamed as_register_comm_server_mode
.disable_restful_mode
renamed as_deregister_comm_server_mode
.create_raya_app
renamed as_register_app
.- Re-enable cameras bug fixed.
- Downgrade numpy required version to
1.20.3
. NavigationController.cancel_goal()
bug fixed.MotionController.set_rotational_velocity()
andMotionController.set_linear_velocity()
removed.MotionController.set_velocity()
renamed asMotionController.ser_velocities()
.MotionController.set_velocities()
now receivesx
,y
,w
andtime
parameters, all optional.ArmController.set_pose()
added.
v0.6.6
UR DDS-Robot Bridge compatible version: 0.4.8
DDS Interface compatible version: 0.4.2
- 'restful' controller renamed as 'communication'
v0.6.4
- New
arms
controller.
UR DDS-Robot Bridge compatible version: 0.4.4
DDS Interface compatible version: 0.4.2
v0.6.2
raya.utils
tools addedraya.utils.image.show_image
raya.utils.image.save_image
v0.6.0
- 'Interactions' controller added
- New sensors: Heading and Pose.
v0.5.4
- 5 tries to connect witih DDS-Robot Bridge
v0.5.2
- Static library bug fixed
v0.5.0
- Navigation controller added
- Sensors tree changed, see the Doc360 page.
v0.4.2
PyPI package ready.
v0.4.1
Restful controller exceptions to Python interface:
- RayaCommunicationException
- RayaNotInCommServerMode
- RayaInCommServerMode
- RayaCommNotRegisteredApp
- RayaCommCommandAlreadyRegistered
- RayaCommNotRegisteredCommand
v0.4.0
UR DDS-Robot Bridge compatible version: 0.2.0
DDS Interface compatible version: 0.2.0
- Added dds_domain and dev_mode to raya_app constructor and create_raya_app function (also to register_comm_server_mode function)
- Added log and create_logger to the RayaApplicationBase class
- Added entry_point to the library
RayaApplicationBase
is now imported fromraya.application_base
- Customizable logger folder in application mode
- Method callbacks do not need to be a tuple anymore.
self.callback_name
instead(self, "callback_name")
when creating listeners. - Restful communication
v0.3.2
UR DDS-Robot Bridge compatible version: 0.1.0
DDS Interface compatible version: 0.1.2
CamerasController.take_snapshot()
, addedcompressed
(boolean) parameter to return jpeg compressed image.CamerasController.create_frame_listener()
, addedcompressed
(boolean) parameter to send jpeg compressed image to the callback.
v0.3.0
UR DDS-Robot Bridge compatible version: 0.1.0
DDS Interface compatible version: 0.1.2
SensorsController.create_threshold_listener()
changed parameter namemin_value
tolower_bound
.SensorsController.create_threshold_listener()
changed parameter namemax_value
tohigher_bound
.SensorsController.create_threshold_listener()
added parameter inside_range.SensorsController.create_threshold_listener() / create_boolean_listener()
changed parameter namesensor_paths
tosensors_paths
.SensorsController.create_threshold_listener() / create_boolean_listener()
parametersensors_paths
is now a list of paths (strings), instead of comma separated paths.SensorsController.delete_threshold_listener()
changed toSensorsController.delete_listener()
, and now deletes any kind of sensors listener.LidarController.check_obstacle() / create_obstacle_listener()
changed parameter namemin_angle
tolower_angle
.LidarController.check_obstacle() / create_obstacle_listener()
changed parameter namemax_angle
tohigher_angle
.LidarController.check_obstacle() / create_obstacle_listener()
changed parameter namemin_distance
tolower_distance
.LidarController.check_obstacle() / create_obstacle_listener()
changed parameter namemax_distance
tohigher_distance
.LidarController.delete_obstacle_listener()
changed toLidarController.delete_listener()
, and now deletes any kind of lidar listener.
v0.2.1
UR DDS-Robot Bridge compatible version: 0.1.0
DDS Interface compatible version: 0.1.2
- Verification of dds_interface version between bridge and raya
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