feat: minor changes to fit demo actions etc

build-support/install_ur_dependencies.sh

@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
 
 apt-get install -y -q --no-install-recommends \
-	ros-jazzy-ros-base=0.11.0-1noble.20241018.114811 \
-	ros-jazzy-ur=2.4.13-1noble.20241118.195218 \
-	ros-jazzy-moveit-py=2.10.0-1noble.20241108.205840
+	ros-jazzy-ros-base=0.11.0-1noble.20250115.204954 \
+	ros-jazzy-ur=3.0.2-1noble.20250202.035908 \
+	ros-jazzy-moveit-py=2.12.1-1noble.20250202.033533

compose-files/fit-demo/docker-compose.yml

@@ -100,7 +100,7 @@ services:
       - ./calibration.yaml:/root/calibration.yaml
 
   fit-demo-dobot-magician:
-    image: arcor2/arcor2_dobot:1.3.0
+    image: arcor2/arcor2_dobot:1.3.1
     container_name: fit-demo-dobot-magician
     depends_on:
       fit-demo-scene:
@@ -116,7 +116,7 @@ services:
       - ARCOR2_DOBOT_MODEL=magician
 
   fit-demo-dobot-magician2:
-    image: arcor2/arcor2_dobot:1.3.0
+    image: arcor2/arcor2_dobot:1.3.1
     container_name: fit-demo-dobot-magician2
     depends_on:
       fit-demo-scene:
@@ -132,7 +132,7 @@ services:
       - ARCOR2_DOBOT_MODEL=magician
 
   fit-demo-dobot-m1:
-    image: arcor2/arcor2_dobot:1.3.0
+    image: arcor2/arcor2_dobot:1.3.1
     container_name: fit-demo-dobot-m1
     depends_on:
       fit-demo-scene:
@@ -212,7 +212,7 @@ services:
       - fit-demo-asset
 
   fit-demo-upload-object-types:
-    image: arcor2/arcor2_upload_fit_demo:1.5.0
+    image: arcor2/arcor2_upload_fit_demo:1.5.1
     container_name: "fit-demo-upload-object-types"
     depends_on:
       fit-demo-project:

src/docker/arcor2_3d_mouse/Dockerfile

@@ -13,7 +13,7 @@ FROM python:3.11.10-bookworm
 # curl is for healthcheck
 RUN apt-get update \
 	&& apt-get -f satisfy ffmpeg -y \
-        && apt-get install -y -q --no-install-recommends sudo=1.9.13p3-1+deb12u1 libhidapi-dev=0.13.1-1 libpulse0=16.1+dfsg1-2+b1 libasound2=1.2.8-1+b1 libasound2-plugins=1.2.7.1-1 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends sudo=1.9.13p3-1+deb12u1 libhidapi-dev=0.13.1-1 libpulse0=16.1+dfsg1-2+b1 libasound2=1.2.8-1+b1 libasound2-plugins=1.2.7.1-1 curl=7.88.1-10+deb12u8 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 

src/docker/arcor2_arserver/Dockerfile

@@ -9,7 +9,7 @@ RUN PEX_TOOLS=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /b
 FROM python:3.11.10-bookworm
 
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.80.0-6ubuntu3.2 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u5 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 

src/docker/arcor2_build/Dockerfile

@@ -10,7 +10,7 @@ FROM python:3.11.10-bookworm
 
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.80.0-6ubuntu3.2 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u5 curl=7.88.1-10+deb12u8 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 

src/docker/arcor2_calibration/Dockerfile

@@ -11,7 +11,7 @@ FROM python:3.11.10-bookworm
 # libgomp1 and libusb-1.0-0 are because of Open3D
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.80.0-6ubuntu3.2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u5 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u8 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 

src/docker/arcor2_dobot/BUILD

@@ -1 +1 @@
-docker_image(name="arcor2_dobot", repository="arcor2/arcor2_dobot", image_tags=["1.3.0"])
+docker_image(name="arcor2_dobot", repository="arcor2/arcor2_dobot", image_tags=["1.3.1"])

src/docker/arcor2_dobot/Dockerfile

@@ -10,7 +10,7 @@ FROM python:3.11.10-bookworm
 
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.80.0-6ubuntu3.2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u5 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u8 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 

src/docker/arcor2_execution/Dockerfile

@@ -9,7 +9,7 @@ RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=
 FROM python:3.11.10-bookworm
 
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.80.0-6ubuntu3.2 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u5 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 

src/docker/arcor2_execution_proxy/Dockerfile

@@ -13,7 +13,7 @@ RUN mkdir -p /root/tokens \
 
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends curl=7.88.1-10+deb12u8 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 

src/docker/arcor2_fanuc/Dockerfile

@@ -10,7 +10,7 @@ FROM python:3.11.10-bookworm
 
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends curl=7.88.1-10+deb12u8 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 

src/docker/arcor2_scene/Dockerfile

@@ -11,7 +11,7 @@ FROM python:3.11.10-bookworm
 # libgomp1 and libusb-1.0-0 are because of Open3D
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.80.0-6ubuntu3.2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u5 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u8 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 

src/docker/arcor2_upload_fit_demo/BUILD

@@ -1 +1 @@
-docker_image(name="arcor2_upload_fit_demo", repository="arcor2/arcor2_upload_fit_demo", image_tags=["1.5.0"])
+docker_image(name="arcor2_upload_fit_demo", repository="arcor2/arcor2_upload_fit_demo", image_tags=["1.5.1"])

src/docker/arcor2_ur/Dockerfile

@@ -41,7 +41,7 @@ COPY build-support/install_ur_dependencies.sh /root/install_ur_dependencies.sh
 RUN apt-get update \
         && /root/install_ur_dependencies.sh \
         && apt-get install -y -q --no-install-recommends \
-        libglib2.0-0=2.80.0-6ubuntu3.2 \
+        libglib2.0-0=2.74.6-2+deb12u5 \
         libgomp1=14.2.0-4ubuntu2~24.04 libusb-1.0-0=2:1.0.27-1 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*

src/python/arcor2_dobot/CHANGELOG.md

@@ -2,6 +2,12 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.3.1] - 2025-02-24
+
+### Fixed
+
+- Conveyor belt direction.
+
 ## [1.3.0] - 2024-04-11
 
 ### Changed

src/python/arcor2_dobot/scripts/dobot.py

@@ -228,10 +228,10 @@ def put_conveyor_distance() -> RespT:
               name: direction
               schema:
                 type: string
-                default: forward
+                default: left
                 enum:
-                    - forward
-                    - backwards
+                    - left
+                    - right
               description: Direction
         responses:
             204:
@@ -245,11 +245,11 @@ def put_conveyor_distance() -> RespT:
     """
 
     speed = float(request.args.get("velocity", default=50.0))
-    direction = request.args.get("direction", default="forward")
+    direction = request.args.get("direction", default="left")
     distance = float(request.args.get("distance", default=0.1))
 
     assert _dobot is not None
-    _dobot.conveyor_distance(speed, distance * 1000, 1 if direction == "forward" else -1)
+    _dobot.conveyor_distance(speed, distance * 1000, 1 if direction == "left" else -1)
     return Response(status=204)
 
 

src/python/arcor2_fit_demo/CHANGELOG.md

@@ -2,6 +2,12 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.5.1] - 2025-02-24
+
+### Changed
+
+- Some actions were renamed, etc.
+
 ## [1.5.0] - 2024-04-11
 
 ### Changed

src/python/arcor2_fit_demo/object_types/abstract_dobot.py

@@ -61,7 +61,7 @@ def home(self, *, an: None | str = None) -> None:
     def move(
         self,
         pose: Pose,
-        move_type: MoveType,
+        move_type: MoveType = MoveType.JOINTS,
         velocity: float = 50.0,
         acceleration: float = 50.0,
         safe: bool = True,

src/python/arcor2_fit_demo/object_types/conveyor_belt.py

@@ -65,7 +65,7 @@ def set_velocity(
 
     set_velocity.__action__ = ActionMetadata()  # type: ignore
 
-    def set_distance(
+    def move_distance(
         self,
         velocity: float = 0.5,
         distance: float = 0.55,
@@ -91,4 +91,4 @@ def set_distance(
             params={"velocity": velocity * 100, "distance": distance, "direction": direction},
         )
 
-    set_distance.__action__ = ActionMetadata()  # type: ignore
+    move_distance.__action__ = ActionMetadata()  # type: ignore

src/python/arcor2_fit_demo/object_types/optical_quality_control.py

@@ -2,11 +2,10 @@
 import time
 
 from arcor2.data.common import ActionMetadata
-from arcor2.object_types.abstract import CollisionObject
+from arcor2.object_types.abstract import GenericWithPose
 
 
-class OpticalQualityControl(CollisionObject):
-    mesh_filename = "kinect_azure.dae"
+class OpticalQualityControl(GenericWithPose):
     _ABSTRACT = False
 
     def measure_quality(self, *, an: None | str = None) -> bool:

src/python/arcor2_fit_demo/object_types/weighing_machine.py

@@ -0,0 +1,29 @@
+import random
+import time
+
+from arcor2.data.common import ActionMetadata
+from arcor2.object_types.abstract import CollisionObject
+
+
+class WeighingMachine(CollisionObject):
+    _ABSTRACT = False
+
+    def check_weight(self, required: float = 1.0, max_diff: float = 0.1, *, an: None | str = None) -> bool:
+        """Returns true if weight of an object being measured is within.
+
+        <required-max_diff, required+max_diff>.
+
+        :param required: Required (target) weight.
+        :param max_diff: Maximal allowed difference.
+        :param an:
+        :return: True if object weight is OK.
+        """
+
+        if random.uniform(0, 1) > 0.3:
+            time.sleep(1)
+            return True
+        else:
+            time.sleep(1)
+            return False
+
+    check_weight.__action__ = ActionMetadata()  # type: ignore

src/python/arcor2_fit_demo/scripts/upload_objects.py

@@ -9,8 +9,8 @@
 from arcor2_fit_demo.object_types.dobot_magician import DobotMagician
 from arcor2_fit_demo.object_types.erp import Erp
 from arcor2_fit_demo.object_types.fit_common_mixin import FitCommonMixin
-from arcor2_fit_demo.object_types.milling_machine import MillingMachine
 from arcor2_fit_demo.object_types.optical_quality_control import OpticalQualityControl
+from arcor2_fit_demo.object_types.weighing_machine import WeighingMachine
 
 
 def main() -> None:
@@ -26,12 +26,8 @@ def main() -> None:
     upload_whatever(FitCommonMixin)
 
     upload_def(Erp)
-    upload_def(MillingMachine, Box(MillingMachine.__name__, 0.1, 0.1, 0.1))
-    upload_def(
-        OpticalQualityControl,
-        Mesh(OpticalQualityControl.__name__, OpticalQualityControl.mesh_filename),
-        file_to_upload=get_data(OpticalQualityControl.mesh_filename),
-    )
+    upload_def(WeighingMachine, Box(WeighingMachine.__name__, 0.15, 0.15, 0.17))
+    upload_def(OpticalQualityControl)
 
 
 if __name__ == "__main__":