ARCOR2 Dobot service
Project description
arcor2_dobot
Environment variables
ARCOR2_DOBOT_URL=http://0.0.0.0:5018
- by default, the service listens on port 5018.ARCOR2_DOBOT_MODEL=magician
- can be set tomagician
orm1
.ARCOR2_DOBOT_MOCK=1
- the service will start in a mock (simulator) mode.- Please note that the mock mode is fully functional only for
magician
. Them1
does not have IK/FK implemented yet.ARCOR2_DOBOT_DEBUG=1
- turns on debug logging.
- Please note that the mock mode is fully functional only for
Changelog
The format is based on Keep a Changelog,
[1.0.0] - 2023-02-14
Changed
- Marked as a stable version.
- Health check end-point changed to
/healthz/ready
.
[0.6.0] - 2022-10-28
Changed
- Switched to Python 3.10, updated dependencies.
[0.5.1] - 2022-09-08
Fixed
DobotGeneral
had wrong ancestor.moveType
default value.
[0.5.0] - 2022-09-02
Changed
- BREAKING: Implement new error handling flow. Error codes of every endpoint were replaced with error types as described in swagger documentation.
- Updated API description.
- Model and port are now set using environment variables.
Added
- New exception classes
[0.4.1] - 2022-02-17
Added
- Support for safe movements.
- Connection to Scene Service Mock needed.
- New parameter
safe
forPUT /eef/pose
. - For JOINT and JUMP movements: add intermediate points with higher z, if there might be a collision.
- For LINEAR: raise an exception if there might be collision.
- Debug logging can be turned on by adding
-d
or settingARCOR2_DOBOT_DEBUG
.
Fixed
- In mock-mode,
cleanup
was throwingAttributeError
.
[0.4.0] - 2022-01-25
Added
- Support for conveyor belt.
Changed
- Suction is switched off during
stop
.
[0.3.0] - 2021-10-25
Changed
- New environment variable
ARCOR2_DOBOT_MOCK
to start the service in a mock mode. - Classes updated to match
Robot
(new argumentinclude_gripper
). - Handle
DobotApi
exceptions to produce nice error messages. - Use HTTP code 204 instead of 200 where it makes sense.
[0.2.3] - 2021-05-21
Fixed
- EEF orientation.
- State controller paths.
[0.2.2] - 2021-03-17
Fixed
- Suction offset for M1 adjusted
[0.2.1] - 2021-03-15
Fixed
- Dobot axis Z is in mm
- Added fixed offset for suction
[0.2.0] - 2021-03-03
Changed
- Integration of
pydobot
library (own modified fork). - API for hand teaching mode.
[0.1.0] - 2021-02-08
Changed
- Initial release of the Dobot service.
Project details
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