Metadata-Version: 2.1
Name: arcor2-dobot
Version: 1.0.0
Summary: ARCOR2 Dobot service
Author: Robo@FIT
Author-email: imaterna@fit.vut.cz
License: LGPL
Classifier: Development Status :: 3 - Alpha
Classifier: Intended Audience :: Developers
Classifier: Topic :: Software Development :: Build Tools
Classifier: License :: OSI Approved :: GNU Lesser General Public License v3 (LGPLv3)
Classifier: Programming Language :: Python :: 3.10
Classifier: Natural Language :: English
Classifier: Topic :: Scientific/Engineering
Requires-Python: ==3.10.*
Description-Content-Type: text/markdown

# 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_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](https://keepachangelog.com/en/1.0.0/),

## [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.
