Package: arcor2-arserver
arcor2_arserverEnvironment variablesARCOR2_ARSERVER_PORT=6789- by default, the service will listen on port 6789.ARCOR2_STREAMING_PERIOD=0.1- controls the period of streaming a robot's EEF poses and joints.CachingARCOR2_ARSERVER_CACHE_TIMEOUT=1.0- by default, ARServer checks for changes in scenes, projects or ObjectTypes max. once per second.ARCOR2_ARSERVER_CACHE_SCENES=32- by default, ARServer keeps 32 last used scenes in its cache.ARCOR2_ARSERVER_CACHE_PROJECTS=64- by default, ARServer keeps 64 last used projects in its cache.ARCOR2_ARSERVER_CACHE_OBJECT_TYPES=32- by default, ARServer keeps 64 last used ObjectTypes in its cache.Resources lockingARCOR2_ARSERVER_LOCK_TIMEOUT=300- if a user do not log again within this timeout (in seconds), their locks are discarded.Can be used to workaround 'Locking failed' issues - if set to some low value, it is sufficient to log out and after the locks got discarded, log in again.ARCOR2_ARSERVER_LOCK_RETRIES=13- number of retries when trying to acquire the global lock.ARCOR2_ARSERVER_LOCK_RETRY_WAIT=0.15- controls how long to wait between attempts to get the global lock.DebuggingARCOR2_MAX_RPC_DURATION=0.1- by default, a warning is emitted when any RPC call takes longer than 0.1 second.ARCOR2_ARSERVER_DEBUG=1- switches logger to theDEBUGlevel.ARCOR2_ARSERVER_ASYNCIO_DEBUG=1- turns onasynciodebug output (helpful to debug problems related to concurrency).ARCOR2_REST_DEBUG=1- may be used to debug problems related to communication with the Project, Scene Build and Calibration services.ChangelogThe format is based onKeep a Changelog,[1.1.1] - 2024-01-23FixedInverseKinematicsandForwardKinematicsRPCs were always returningObject not founderror.[1.1.0] - 2023-07-20ChangedCompatibility with arcor2 1.1.0 (object pose must now be updated withobj.set_pose(pose)).[1.0.0] - 2023-02-14ChangedDependency on arcor2 1.0.0.Compatibility with the newest version of the Project service.ARServer now also talks to Asset service (checks whether mesh/URDF exists).[0.27.0] - 2022-12-12ChangedDependency onarcor2~=0.26.0.[0.26.0] - 2022-10-28ChangedSwitched to Python 3.10, updated dependencies.[0.25.0] - 2022-08-17ChangedAdaptation to changes in API of the Build service.Updated scene client (changed API).[0.24.0] - 2022-04-25AddedNew RPCsGetSceneandGetProject.[0.23.0] - 2022-01-25ChangedBreaking change of WebSockets API (ActionStateBeforeevent).Switched to Python 3.9, updated dependencies.[0.22.1] - 2021-10-26ChangedAdded HTTP upload server for logs from AREditorLogs are uploaded to /root/logs (could be changed using ARCOR2_AREDITOR_LOGS_FOLDER env variable)[0.22.0] - 2021-10-25ChangedWhen getting pose/joints from a robot fails, continue trying instead of giving up.HandleKinematicsExceptionto deliver a more precise error message.Updating object models.New RPCUpdateObjectModel.Ability to lock individual ObjectTypes.Various improvements regarding locking.Proper handling of scene/project problems.Any problem makes scene/project invalid, and then it can't be opened.Scene/project problems are now checked when:Scene/project is listed.Opening a scene/project is requested.Found problems are cached for better performance.ObjectTypes are checked for changes during each listing of scenes/projects.Deleting ObjectTypes reworked.DeleteObjectTypereplaced withDeleteObjectTypes.The new RPC takes list of ObjectType IDs.Empty list means all ObjectTypes.It returns list of id/error for types that could not be removed.This is especially useful for usage withdry_run.Updated environment variables, please see README.Improved logging to debug 'Locking failed'.Support for virtual collision objects.AddVirtualCollisionObjectToSceneRPC creates a new OT and adds its instance to a scene.In the simplest case, each collision object will have its own ObjectType.But it is also possible to add more instances as with other types.When the last instance of VCO is removed, ARServer also removes the ObjectType automatically.Ignoringhiddenactions (a new flag inActionMetadata).New RPCObjectTypeUsagereturning scene ids where the ObjectType is used.Support for debugging - relaying related RPCs to the Execution Service.Better handling of exceptions in asyncio tasks.More useful traceback is printed out.In development mode, an unhandled exception leads to shutdown of a service.In production mode, traceback is printed out and the service tries to continue.FixedBan HT mode changes while moving.Arguments for getting robot joints (only affected multi-arm robots).Handle locking exceptions on scene start/stop.Copying of action points.Fixed locking withinCopyActionPoint.Fixed update of orientation IDs.Added locking to Project client to make the cache caching properly.modifiedwas missing for disabled object.This happened when it was not possible to get object's base.Copy AP - update of orientation ID in actions.Removed 'delayed' unlocking of resources which caused race conditions in some cases and made the crashes hard to debug.HT mode for single arm robots was broken.[0.21.0] - 2021-08-05ChangedLocks are not automatically released when aiming is done or cancelled.Linear movements are used by default for stepping and table alignment.Joints stream (RobotJointsevent) now contains also gripper joints when available (depends on the particular ObjectType).FixedGetting action results (the result was alwaysFalse).ctx_read_lockmade some RPCs impossible to success.Object parameters checking.Values and types of object parameters were not checked at all.For now, only basic types are supported.[0.20.0] - 2021-07-29ChangedSupport for multi arm robots.Dealing witharm_idparameter in RPCs.Streaming EEF poses for all arms.Allow to reposition scene objects while online.It was allowed to reposition objects using robot,...but disallowed to do it manually.This was inconsistent and unnecessarily restrictive.Now objects (except robots) can be repositioned anytime.When creating a new project, common parameters are added automatically.At the moment those arescene_idandproject_id.A user could use or remove them.Collisions are not removed after stopping the scene.ObjectType change detection is now based onmodifiedinstead of comparing source codes.ARServer Project service client now stores cached scenes/projects.Object aiming reworked.RPCs were renamed and all of them now havedry_run.There is a new method to cancel the process.One user can be aiming one object at the moment.Both the object and the selected robot have to be write-locked.Improved logging.Test was added.Server no longer downloads URDF packages.ARCOR2_DATA_PATHenvironment variable is no longer used.Clients will get URDFs through reverse proxy from Project service.NewObjectTypeno longer assumes that mesh already exists.A file associated to mesh must exist in advance.FixedAll calls to the Scene service are guarded against exceptions.Renaming of project parameters fixed.It was possible to use already taken name.[0.19.0] - 2021-06-22Update to API version 0.15.0.[0.18.0] - 2021-06-11ChangedUpdated to work with Project service 0.8.0.Allow fast re-login after connection was broken.Added locking to const-related RPCs.Log calibration-related errors.FixedHandle invalid ObjectType settings annotation.[0.17.0] - 2021-05-21ChangedReturn value ofGetCameraPoseRPC updated.Objects initialization order.Object initialization order can be set using class-levelINIT_PRIORITYvariable.The higher priority, the sooner are objects of that type initialized.Initialization happens in parallel (for objects of the same priority).SetEefPerpendicularToWorldnow calls IK in parallel.This provides almost 100% speed-up even when the robot service proceeds requests one by one.Added locking of internal resources.Created a lock module that allows to read/write lock existing or special objects. The module contains:lock object with all necessary methods;structures for keeping data about locked objects;locking-related exceptions;queue and task for notifying UI about lock data;methods for auto-unlocking after timeout when user logouts.Base tests of locking structure.RPCs for (un)locking object, registering user name.Events for (un)locking object.Created a class for maintaining connected UIs.Project methods to get object by ID, object parent and object children.All RPCs that requires some kind of locking are now lock-guarded.Updated existing tests to work with newly implemented locking.Global variablesSCENE,PROJECTandINTERFACESmoved to new classes.Rewritten cache for the Project service.The cache is now always on (provides a significant speed-up).External updates to the Project service are recognized properly.New RPCAddApUsingRobot.Support for multiple inheritance.ObjectTypes can now use mixins.It should be used likeclass NewObjectType(MixinA, MixinB, Generic).E.g. the last ancestor should be something derived fromGeneric.SetEefPerpendicularToWorldfaster as it calls IK in parallel.FixedSceneStateevent was not sent to a newly connected UIs.Results of actions are now forgotten when going offline.Fixed support forlinkparameter type.[0.16.0] - 2021-04-20FixedAction can't use its own result as a parameter (link parameter type).ChangedDependency on arcor2 0.15.0 with updated REST client.Action parameter value is now always JSON.It used to be a string for link/constant special types.[0.15.1] - 2021-04-19FixedDependency on bugfix release of arcor2.[0.15.0] - 2021-03-30ChangedNew RPCSetEefPerpendicularToWorld.New RPCStepRobotEef.FixedCopyActionPointRPC: 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] - 2021-03-15ChangedImproved logging for debugging robot features.Suffix is added to copied AP/action instead of prefix.FixedNames for orientations/joints were not checked as valid identifiers.Action names were checked, but should not be.[0.13.0] - 2021-03-03ChangedAPI to copy action point (including orientations, joints, child APs).Robot-related API (MoveToPose, MoveToJoints, MoveToActionPoint) updated in order to containsafeparameter.API to enable/disable robot hand teaching mode.Concrete and helpful error messages when a name entered by the user is refused.FixedOnlyBareActionPointwas sent on parent change.[0.12.0] - 2021-02-08ChangedImproved scene-related messages.Error messages now contain the name of the object which caused the error.NewMarkersCornersRPC for getting markers corners.Support foranparameter (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.FixedBetter 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.GetCameraPosecallback fixed (used to beCalibration).[0.11.0] - 2020-12-14ChangedImproved 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 usingChangedObjectTypesevent (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] - 2020-10-30ChangedRPC for IK/FK.[0.10.0] - 2020-10-22ChangedUpdated due to a breaking change inarcor2_execution_data.[0.9.1] - 2020-10-19ChangedARCOR2 dependency updatedFixedfixed check for existing override[0.9.0] - 2020-10-16ChangedWS API for updates of scene objects parameters and management of project-defined overrides.Integration tests refactored into multiple modules that can run in parallel.UpdateObjectPoseandUpdateActionPointPositionnow has dry_run.Box/Cylinder/Sphere models now have some constraints on their dimensions.[0.8.0] - 2020-09-24ChangedThe first release of the separated package.RPC/Events refactored.ARServer script now has--openapiargument 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.