Zdeněk Materna

Support for runtime Pose parameter

2

At the moment, all poses that are used as parameters come from Action Points (pose = point's position + one of its orientations). However, one can't create a program that...

Long_description in setup.py

1

Currently, the `long_description` field is generated by concatenating README and CHANGELOG while building packages: https://github.com/robofit/arcor2/blob/6dab12458e1081407989f61b34da71b9840be12d/pants-plugins/setup_kwargs_plugin/register.py#L69 However, it makes the `setup.py` very long (in some cases) and it would be better...

For interoperability, JSONs (e.g. `scene.json` and `project.json`) should be converted to camelCase.

Currently, ARServer provides only allowed values as metadata about enums (e.g. `IntegerEnumExtra`), which works for `StrEnum`, but is not usable for `IntEnum`, where a user would like to see symbolic...

Use ParamSpec for decorators etc.

1

The newest mypy 0.930 supports `ParamSpec` ([PEP 612](https://www.python.org/dev/peps/pep-0612/)), which might be highly useful for e.g. `run_in_executor`, where otherwise function/method parameters are not checked properly.

In order to allow Object Types to communicate with a ROS environment, we could e.g. add [roslibpy](https://github.com/gramaziokohler/roslibpy) to ARServer/Build/Execution containers - it allows to communicate with ROS through rosbridge (WebSockets)...

[urdfpy](https://github.com/mmatl/urdfpy) seems to be abandoned and the main problem is its outdated dependencies. There is [yourdfpy](https://github.com/clemense/yourdfpy/), which seems suitable.

Currently, the camera matrix is being mined from some JSON, but `pyk4a` now has OpenCV-compatible functions for that: `get_camera_matrix` and `get_distortion_coefficients`.

Dobot Magician/M1 kinematics

1

Magician - [x] IK - [x] FK M1 - [ ] IK - [ ] FK - [ ] ability to set handedness

Make sure that services can handle invalid ObjectTypes. What might be wrong: - [ ] missing imports - [ ] ?