arcor2-arserver 0.15.1

ARCOR2 ARServer

arcor2_arserver

Changelog

The format is based on Keep a Changelog,

[0.15.1] - WIP

Fixed

• Dependency on bugfix release of arcor2.

[0.15.0] - 2021-03-30

Changed

• New RPC SetEefPerpendicularToWorld.
• New RPC StepRobotEef.

Fixed

• CopyActionPoint RPC: update action parameters to use copied orientations.
• Scene now goes offline before execution and to the original state after it.
• Scene-related messages adapted to a new terminology.

[0.14.0] - 2021-03-15

Changed

• Improved logging for debugging robot features.
• Suffix is added to copied AP/action instead of prefix.

Fixed

• Names for orientations/joints were not checked as valid identifiers.
• Action names were checked, but should not be.

[0.13.0] - 2021-03-03

Changed

• API to copy action point (including orientations, joints, child APs).
• Robot-related API (MoveToPose, MoveToJoints, MoveToActionPoint) updated in order to contain safe parameter.
• API to enable/disable robot hand teaching mode.
• Concrete and helpful error messages when a name entered by the user is refused.

Fixed

• Only BareActionPoint was sent on parent change.

[0.12.0] - 2021-02-08

Changed

• Improved scene-related messages.
  • Error messages now contain the name of the object which caused the error.
• New MarkersCorners RPC for getting markers corners.
• Support for an parameter (explicit parameters).
• Improved check of action signature and annotation.
• New WS API for execution state reporting.
• Support for project constants.
  • Only basic types are supported so far.

Fixed

• Better handling of missing collision model.
  • If server can't get collision model of the object, the object is disabled.
  • Previously, this situation caused crash of the server.
• GetCameraPose callback fixed (used to be Calibration).

[0.11.0] - 2020-12-14

Changed

• Improved support for logic branching.
  • So far, only boolean outputs are supported.
• Improved handling of return values (uses the same function as the main script).
• The internal database of ObjectTypes in updated each time before opening a scene or a project.
  • Changes are notified using ChangedObjectTypes event (one event for added objects, one for updated and another one for deleted ones).
• Support for camera/robot calibration.
• Initial support for cameras (getting images, camera parameters).

[0.10.1] - 2020-10-30

Changed

• RPC for IK/FK.

[0.10.0] - 2020-10-22

Changed

• Updated due to a breaking change in arcor2_execution_data.

[0.9.1] - 2020-10-19

Changed

• ARCOR2 dependency updated

Fixed

• fixed check for existing override

[0.9.0] - 2020-10-16

Changed

• WS API for updates of scene objects parameters and management of project-defined overrides.
• Integration tests refactored into multiple modules that can run in parallel.
• UpdateObjectPose and UpdateActionPointPosition now has dry_run.
• Box/Cylinder/Sphere models now have some constraints on their dimensions.

[0.8.0] - 2020-09-24

Changed

• The first release of the separated package.
• RPC/Events refactored.
• ARServer script now has --openapi argument and is able to generate OpenAPI models for RPCs and events.
• Detection of loops in: AP hierarchy, logic.
• Caching client for Project service.
• Proper handling of object inheritance.
• ObjectTypes are stored in temporary module on disk.
• Integration tests.