arcor2/arcor2_base

•Updated almost 6 years ago

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arcor2/arcor2_base repository overview

⁠ARCOR2

ARCOR stands for Augmented Reality Collaborative Robot. It is a system for simplified programming of collaborative robots based on augmented reality developed by Robo@FIT⁠.

This repository contains the backend solution. It can be easily tested out or deployed using docker images⁠. Unity-based client application for ARCore-supported tablets is available here⁠.

Development is supported by Test-it-off: Robotic offline product testing⁠ project (Ministry of Industry and Trade of the Czech Republic).

Quick Links:

Terminology⁠
Services⁠
Development⁠
Releases⁠
Publications⁠

⁠Terminology

Scene
- The layout of the workspace.
- Consists of action objects' instances and their parameters.
Project
- User-defined program based on a scene.
- Contains action points, actions, and their parameters, program flow definition (logic).
Action Point
- Acts as a spatial anchor.
- Defined within a project.
- Has a 3D position, may contain 0-n orientations and/or robot joints.
Action Object
- A class derived from Generic⁠.
- Its methods (with special annotation) become Actions.
- Support for new service/device/robot is added through writing a class definition.
- It may or may not have pose, collision model, URDF model (robots only).
Action Object Instance
- An action object with given parameters, pose, etc. within a scene, project, or main script.
Action
- Action object method that can be parametrized and called from a project.
Action Instance
- Concrete action with a unique ID and name added to a specific action point in the project.
Execution Package
- Self-contained package generated from scene, project, and involved action objects.
Main Script
- Part of the execution package.
- An executable script that creates instances of the objects and contains the logic of the project.
- Can be optionally hand-written.
- Logic can be manually updated and then the script could be converted back to the project (upcoming feature).

⁠Services

ARServer⁠
- The central point for user interfaces (e.g. instances of the AREditor).
- Provides API (RPC, events) for its clients, mediates communication with other services.
Build⁠
- Transforms projects created in the AR environment into execution packages.
Execution⁠
- Runs execution packages generated by the Build service.
- Provides data about packages and execution state (what step of the program with what parameters is currently running) to the ARServer / AREditor, controls the execution of the main script (pause, resume, stop).

Other services as Project and Scene (this repo provides mocks⁠ for them) are being developed by Kinali⁠ and will be eventually published here⁠.

⁠Development

We use Pants⁠ to build the sources into Python distribution packages, run tests, etc. Packages do not contain setup.py file - this is generated during the build process.

⁠Testing

How to run all tests:

$ ./pants test ::

How to run a specific test:

$ ./pants test src/python/arcor2/data/tests

⁠Releases

⁠Publications

Comming soon!

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Last updated

about 6 years ago

docker pull arcor2/arcor2_base