arcor2 1.4.0

Description:

arcor2 1.4.0

arcor2
Changelog
The format is based on Keep a Changelog,
[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.