fix(arcor2_arserver): ik and fk RPCs

robofit · Jan 23, 2024 · fe168dd · fe168dd
1 parent b7050f9
commit fe168dd
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Showing 6 changed files with 12 additions and 6 deletions.
diff --git a/README.md b/README.md
@@ -42,7 +42,7 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o
 
 [README](src/python/arcor2_arserver/README.md) | [CHANGELOG](src/python/arcor2_arserver/CHANGELOG.md)
 
- - 2023-07-20: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_arserver%2F1.1.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_arserver/tags?page=1&ordering=last_updated&name=1.1.0), [pypi](https://pypi.org/project/arcor2-arserver/1.1.0/)).
+ - 2024-01-23: [1.1.1](https://github.com/robofit/arcor2/releases/tag/arcor2_arserver%2F1.1.1) ([docker](https://hub.docker.com/r/arcor2/arcor2_arserver/tags?page=1&ordering=last_updated&name=1.1.1), [pypi](https://pypi.org/project/arcor2-arserver/1.1.1/)).
 
 ### arcor2_arserver_data
 

diff --git a/compose-files/fit-demo/docker-compose.yml b/compose-files/fit-demo/docker-compose.yml
@@ -2,7 +2,7 @@ version: '3.8'
 
 services:
   fit-demo-arserver:
-    image: arcor2/arcor2_arserver:1.1.0
+    image: arcor2/arcor2_arserver:1.1.1
     container_name: fit-demo-arserver
     depends_on:
       fit-demo-project:

diff --git a/src/docker/arcor2_arserver/BUILD b/src/docker/arcor2_arserver/BUILD
@@ -1,5 +1,5 @@
 shell_source(name="start.sh", source="start.sh")
 
 docker_image(
-    name="arcor2_arserver", repository="arcor2/arcor2_arserver", dependencies=[":start.sh"], image_tags=["1.1.0"]
+    name="arcor2_arserver", repository="arcor2/arcor2_arserver", dependencies=[":start.sh"], image_tags=["1.1.1"]
 )
diff --git a/src/python/arcor2_arserver/CHANGELOG.md b/src/python/arcor2_arserver/CHANGELOG.md
@@ -2,6 +2,12 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.1.1] - 2024-01-23
+
+### Fixed
+
+- `InverseKinematics` and `ForwardKinematics` RPCs were always returning `Object not found` error.
+
 ## [1.1.0] - 2023-07-20
 
 ### Changed

diff --git a/src/python/arcor2_arserver/VERSION b/src/python/arcor2_arserver/VERSION
@@ -1 +1 @@
-1.1.0
+1.1.1
diff --git a/src/python/arcor2_arserver/rpc/robot.py b/src/python/arcor2_arserver/rpc/robot.py
@@ -383,7 +383,7 @@ async def move_to_action_point_cb(req: srpc.r.MoveToActionPoint.Request, ui: WsC
 async def ik_cb(req: srpc.r.InverseKinematics.Request, ui: WsClient) -> srpc.r.InverseKinematics.Response:
     glob.LOCK.scene_or_exception()
 
-    async with ctx_read_lock([req.args.robot_id, req.args.end_effector_id], glob.USERS.user_name(ui)):
+    async with ctx_read_lock(req.args.robot_id, glob.USERS.user_name(ui)):
         ensure_scene_started()
         robot_inst = get_robot_instance(req.args.robot_id)
         await check_feature(robot_inst, Robot.inverse_kinematics.__name__)
@@ -404,7 +404,7 @@ async def ik_cb(req: srpc.r.InverseKinematics.Request, ui: WsClient) -> srpc.r.I
 async def fk_cb(req: srpc.r.ForwardKinematics.Request, ui: WsClient) -> srpc.r.ForwardKinematics.Response:
     glob.LOCK.scene_or_exception()
 
-    async with ctx_read_lock([req.args.robot_id, req.args.end_effector_id], glob.USERS.user_name(ui)):
+    async with ctx_read_lock(req.args.robot_id, glob.USERS.user_name(ui)):
         ensure_scene_started()
         robot_inst = get_robot_instance(req.args.robot_id)
         await check_feature(robot_inst, Robot.forward_kinematics.__name__)