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Description:

arcor2dobot 1.3.0

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 to magician or m1.
ARCOR2_DOBOT_BIAS_X (as well as _Y and _Z) - sets EEF parameters (offset), default value is 0.
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. The m1 does not have IK/FK implemented yet.
ARCOR2_DOBOT_DEBUG=1 - turns on debug logging.

Changelog
The format is based on Keep a Changelog,
[1.3.0] - 2024-04-11
Changed

Updated dependencies, switched to Python 3.11.

[1.2.0] - 2024-03-26
Changed

Setting belt distance is now blocking operation.

[1.1.1] - 2024-02-20
Fixed

Biases are now converted to millimeters when sent to robot.

[1.1.0] - 2024-02-08
Changed

Added ARCOR2_DOBOT_BIAS_X, ARCOR2_DOBOT_BIAS_Y, ARCOR2_DOBOT_BIAS_Z env. variables to set EEF parameters - offset, which is different for different tools.

[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 for PUT /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 setting ARCOR2_DOBOT_DEBUG.

Fixed

In mock-mode, cleanup was throwing AttributeError.

[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 argument include_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.