feat(arcor2_ur): control of VGC10 suction

robofit · Nov 5, 2024 · 81029c2 · 81029c2
1 parent 9f3e5cc
commit 81029c2
Show file tree

Hide file tree

Showing 22 changed files with 858 additions and 394 deletions.
diff --git a/3rdparty/constraints.txt b/3rdparty/constraints.txt
diff --git a/3rdparty/flake8_lockfile.txt b/3rdparty/flake8_lockfile.txt
@@ -319,21 +319,21 @@
           "artifacts": [
             {
               "algorithm": "sha256",
-              "hash": "12d745f7710ffbf6aeb8279ba9068a24d4e52e8ed333b8b044035c9d6b823aba",
-              "url": "https://files.pythonhosted.org/packages/47/13/e7ae7ec4beb4b0b1b26249719adb310e201ac9d020ac01d983d9df8478b0/vulture-2.11-py2.py3-none-any.whl"
+              "hash": "34793ba60488e7cccbecdef3a7fe151656372ef94fdac9fe004c52a4000a6d44",
+              "url": "https://files.pythonhosted.org/packages/fd/1b/bc096603b79edbac62899cbe852bd5ccdf0f8e8a7faa9f7390ee1995cedb/vulture-2.13-py2.py3-none-any.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "f0fbb60bce6511aad87ee0736c502456737490a82d919a44e6d92262cb35f1c2",
-              "url": "https://files.pythonhosted.org/packages/da/70/29f296be6353598dfbbdf994f5496e6bf0776be6811c8491611a31aa15da/vulture-2.11.tar.gz"
+              "hash": "78248bf58f5eaffcc2ade306141ead73f437339950f80045dce7f8b078e5a1aa",
+              "url": "https://files.pythonhosted.org/packages/1d/7d/e78586863119fe28741c347988f892301319ce05edd11dbe0b45b18cc3b9/vulture-2.13.tar.gz"
             }
           ],
           "project_name": "vulture",
           "requires_dists": [
             "tomli>=1.1.0; python_version < \"3.11\""
           ],
           "requires_python": ">=3.8",
-          "version": "2.11"
+          "version": "2.13"
         }
       ],
       "platform_tag": null

diff --git a/3rdparty/pytest_lockfile.txt b/3rdparty/pytest_lockfile.txt
@@ -37,101 +37,101 @@
           "artifacts": [
             {
               "algorithm": "sha256",
-              "hash": "e9a6e0eb86070e8ccaedfbd9d38fec54864f3125ab95419970575b42af7541df",
-              "url": "https://files.pythonhosted.org/packages/a5/2b/0354ed096bca64dc8e32a7cbcae28b34cb5ad0b1fe2125d6d99583313ac0/coverage-7.6.1-pp38.pp39.pp310-none-any.whl"
+              "hash": "3c65d37f3a9ebb703e710befdc489a38683a5b152242664b973a7b7b22348a4e",
+              "url": "https://files.pythonhosted.org/packages/cc/56/e1d75e8981a2a92c2a777e67c26efa96c66da59d645423146eb9ff3a851b/coverage-7.6.4-pp39.pp310-none-any.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "07e2ca0ad381b91350c0ed49d52699b625aab2b44b65e1b4e02fa9df0e92ad2d",
-              "url": "https://files.pythonhosted.org/packages/0f/ef/94043e478201ffa85b8ae2d2c79b4081e5a1b73438aafafccf3e9bafb6b5/coverage-7.6.1-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl"
+              "hash": "4f704f0998911abf728a7783799444fcbbe8261c4a6c166f667937ae6a8aa522",
+              "url": "https://files.pythonhosted.org/packages/13/f2/3a0bf1841a97c0654905e2ef531170f02c89fad2555879db8fe41a097871/coverage-7.6.4-cp311-cp311-musllinux_1_2_x86_64.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "0c0420b573964c760df9e9e86d1a9a622d0d27f417e1a949a8a66dd7bcee7bc6",
-              "url": "https://files.pythonhosted.org/packages/14/6f/8351b465febb4dbc1ca9929505202db909c5a635c6fdf33e089bbc3d7d85/coverage-7.6.1-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl"
+              "hash": "0b3fb02fe73bed561fa12d279a417b432e5b50fe03e8d663d61b3d5990f29546",
+              "url": "https://files.pythonhosted.org/packages/20/e7/c3ad33b179ab4213f0d70da25a9c214d52464efa11caeab438592eb1d837/coverage-7.6.4-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "c44fee9975f04b33331cb8eb272827111efc8930cfd582e0320613263ca849ca",
-              "url": "https://files.pythonhosted.org/packages/1f/0f/c890339dd605f3ebc269543247bdd43b703cce6825b5ed42ff5f2d6122c7/coverage-7.6.1-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl"
+              "hash": "2b6b4c83d8e8ea79f27ab80778c19bc037759aea298da4b56621f4474ffeb117",
+              "url": "https://files.pythonhosted.org/packages/27/03/932c2c5717a7fa80cd43c6a07d3177076d97b79f12f40f882f9916db0063/coverage-7.6.4-cp312-cp312-macosx_11_0_arm64.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "1f4aa8219db826ce6be7099d559f8ec311549bfc4046f7f9fe9b5cea5c581c56",
-              "url": "https://files.pythonhosted.org/packages/68/3c/289b81fa18ad72138e6d78c4c11a82b5378a312c0e467e2f6b495c260907/coverage-7.6.1-cp311-cp311-musllinux_1_2_aarch64.whl"
+              "hash": "ed8fe9189d2beb6edc14d3ad19800626e1d9f2d975e436f84e19efb7fa19469b",
+              "url": "https://files.pythonhosted.org/packages/36/91/fc02e8d8e694f557752120487fd982f654ba1421bbaa5560debf96ddceda/coverage-7.6.4-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "9bc572be474cafb617672c43fe989d6e48d3c83af02ce8de73fff1c6bb3c198d",
-              "url": "https://files.pythonhosted.org/packages/70/6c/a9ccd6fe50ddaf13442a1e2dd519ca805cbe0f1fcd377fba6d8339b98ccb/coverage-7.6.1-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl"
+              "hash": "0b58c672d14f16ed92a48db984612f5ce3836ae7d72cdd161001cc54512571f2",
+              "url": "https://files.pythonhosted.org/packages/3c/eb/634d7dfab24ac3b790bebaf9da0f4a5352cbc125ce6a9d5c6cf4c6cae3c7/coverage-7.6.4-cp312-cp312-musllinux_1_2_aarch64.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "95cae0efeb032af8458fc27d191f85d1717b1d4e49f7cb226cf526ff28179778",
-              "url": "https://files.pythonhosted.org/packages/7e/d4/300fc921dff243cd518c7db3a4c614b7e4b2431b0d1145c1e274fd99bd70/coverage-7.6.1-cp312-cp312-macosx_10_9_x86_64.whl"
+              "hash": "29fc0f17b1d3fea332f8001d4558f8214af7f1d87a345f3a133c901d60347c73",
+              "url": "https://files.pythonhosted.org/packages/52/12/3669b6382792783e92046730ad3327f53b2726f0603f4c311c4da4824222/coverage-7.6.4.tar.gz"
             },
             {
               "algorithm": "sha256",
-              "hash": "c3c02d12f837d9683e5ab2f3d9844dc57655b92c74e286c262e0fc54213c216d",
-              "url": "https://files.pythonhosted.org/packages/86/74/1dc7a20969725e917b1e07fe71a955eb34bc606b938316bcc799f228374b/coverage-7.6.1-cp312-cp312-musllinux_1_2_x86_64.whl"
+              "hash": "51b44306032045b383a7a8a2c13878de375117946d68dcb54308111f39775a25",
+              "url": "https://files.pythonhosted.org/packages/53/ed/a38401079ad320ad6e054a01ec2b61d270511aeb3c201c80e99c841229d5/coverage-7.6.4-cp311-cp311-macosx_11_0_arm64.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "260933720fdcd75340e7dbe9060655aff3af1f0c5d20f46b57f262ab6c86a5e8",
-              "url": "https://files.pythonhosted.org/packages/92/8f/2ead05e735022d1a7f3a0a683ac7f737de14850395a826192f0288703472/coverage-7.6.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl"
+              "hash": "12394842a3a8affa3ba62b0d4ab7e9e210c5e366fbac3e8b2a68636fb19892c2",
+              "url": "https://files.pythonhosted.org/packages/7d/e7/9291de916d084f41adddfd4b82246e68d61d6a75747f075f7e64628998d2/coverage-7.6.4-cp312-cp312-macosx_10_13_x86_64.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "d85f5e9a5f8b73e2350097c3756ef7e785f55bd71205defa0bfdaf96c31616ff",
-              "url": "https://files.pythonhosted.org/packages/aa/cd/766b45fb6e090f20f8927d9c7cb34237d41c73a939358bc881883fd3a40d/coverage-7.6.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl"
+              "hash": "73d2b73584446e66ee633eaad1a56aad577c077f46c35ca3283cd687b7715b0b",
+              "url": "https://files.pythonhosted.org/packages/87/31/9c0cf84f0dfcbe4215b7eb95c31777cdc0483c13390e69584c8150c85175/coverage-7.6.4-cp311-cp311-macosx_10_9_x86_64.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "7dea0889685db8550f839fa202744652e87c60015029ce3f60e006f8c4462c93",
-              "url": "https://files.pythonhosted.org/packages/ad/5f/67af7d60d7e8ce61a4e2ddcd1bd5fb787180c8d0ae0fbd073f903b3dd95d/coverage-7.6.1-cp311-cp311-macosx_10_9_x86_64.whl"
+              "hash": "b57b768feb866f44eeed9f46975f3d6406380275c5ddfe22f531a2bf187eda27",
+              "url": "https://files.pythonhosted.org/packages/8a/3c/37a9d81bbd4b23bc7d46ca820e16174c613579c66342faa390a271d2e18b/coverage-7.6.4-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "877abb17e6339d96bf08e7a622d05095e72b71f8afd8a9fefc82cf30ed944163",
-              "url": "https://files.pythonhosted.org/packages/d1/04/7fd7b39ec7372a04efb0f70c70e35857a99b6a9188b5205efb4c77d6a57a/coverage-7.6.1-cp312-cp312-musllinux_1_2_aarch64.whl"
+              "hash": "27fb4a050aaf18772db513091c9c13f6cb94ed40eacdef8dad8411d92d9992db",
+              "url": "https://files.pythonhosted.org/packages/b5/4e/ebfc6944b96317df8b537ae875d2e57c27b84eb98820bc0a1055f358f056/coverage-7.6.4-cp311-cp311-musllinux_1_2_i686.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "ed37bd3c3b063412f7620464a9ac1314d33100329f39799255fb8d3027da50d3",
-              "url": "https://files.pythonhosted.org/packages/e1/0e/e52332389e057daa2e03be1fbfef25bb4d626b37d12ed42ae6281d0a274c/coverage-7.6.1-cp311-cp311-macosx_11_0_arm64.whl"
+              "hash": "5915fcdec0e54ee229926868e9b08586376cae1f5faa9bbaf8faf3561b393d52",
+              "url": "https://files.pythonhosted.org/packages/c0/70/6b0627e5bd68204ee580126ed3513140b2298995c1233bd67404b4e44d0e/coverage-7.6.4-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "5621a9175cf9d0b0c84c2ef2b12e9f5f5071357c4d2ea6ca1cf01814f45d2391",
-              "url": "https://files.pythonhosted.org/packages/e1/ab/6bf00de5327ecb8db205f9ae596885417a31535eeda6e7b99463108782e1/coverage-7.6.1-cp312-cp312-macosx_11_0_arm64.whl"
+              "hash": "b369ead6527d025a0fe7bd3864e46dbee3aa8f652d48df6174f8d0bac9e26e0e",
+              "url": "https://files.pythonhosted.org/packages/cc/57/cb08f0eda0389a9a8aaa4fc1f9fec7ac361c3e2d68efd5890d7042c18aa3/coverage-7.6.4-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "fc5a77d0c516700ebad189b587de289a20a78324bc54baee03dd486f0855d234",
-              "url": "https://files.pythonhosted.org/packages/ed/1c/aa1efa6459d822bd72c4abc0b9418cf268de3f60eeccd65dc4988553bd8d/coverage-7.6.1-cp311-cp311-musllinux_1_2_i686.whl"
+              "hash": "8cf717ee42012be8c0cb205dbbf18ffa9003c4cbf4ad078db47b95e10748eec5",
+              "url": "https://files.pythonhosted.org/packages/ce/9c/4337f468ef0ab7a2e0887a9c9da0e58e2eada6fc6cbee637a4acd5dfd8a9/coverage-7.6.4-cp312-cp312-musllinux_1_2_x86_64.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "3e0cadcf6733c09154b461f1ca72d5416635e5e4ec4e536192180d34ec160f8a",
-              "url": "https://files.pythonhosted.org/packages/ed/bf/73ce346a9d32a09cf369f14d2a06651329c984e106f5992c89579d25b27e/coverage-7.6.1-cp312-cp312-musllinux_1_2_i686.whl"
+              "hash": "1d5b8007f81b88696d06f7df0cb9af0d3b835fe0c8dbf489bad70b45f0e45613",
+              "url": "https://files.pythonhosted.org/packages/d5/3f/0af47dcb9327f65a45455fbca846fe96eb57c153af46c4754a3ba678938a/coverage-7.6.4-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "953510dfb7b12ab69d20135a0662397f077c59b1e6379a768e97c59d852ee51d",
-              "url": "https://files.pythonhosted.org/packages/f7/08/7e37f82e4d1aead42a7443ff06a1e406aabf7302c4f00a546e4b320b994c/coverage-7.6.1.tar.gz"
+              "hash": "ade3ca1e5f0ff46b678b66201f7ff477e8fa11fb537f3b55c3f0568fbfe6e718",
+              "url": "https://files.pythonhosted.org/packages/d5/c9/2c7681a9b3ca6e6f43d489c2e6653a53278ed857fd6e7010490c307b0a47/coverage-7.6.4-cp311-cp311-musllinux_1_2_aarch64.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "b48f312cca9621272ae49008c7f613337c53fadca647d6384cc129d2996d1133",
-              "url": "https://files.pythonhosted.org/packages/fb/c8/521c698f2d2796565fe9c789c2ee1ccdae610b3aa20b9b2ef980cc253640/coverage-7.6.1-cp311-cp311-musllinux_1_2_x86_64.whl"
+              "hash": "2fdef0d83a2d08d69b1f2210a93c416d54e14d9eb398f6ab2f0a209433db19e1",
+              "url": "https://files.pythonhosted.org/packages/d9/0d/8e3ed00f1266ef7472a4e33458f42e39492e01a64281084fb3043553d3f1/coverage-7.6.4-cp312-cp312-musllinux_1_2_i686.whl"
             }
           ],
           "project_name": "coverage",
           "requires_dists": [
             "tomli; python_full_version <= \"3.11.0a6\" and extra == \"toml\""
           ],
-          "requires_python": ">=3.8",
-          "version": "7.6.1"
+          "requires_python": ">=3.9",
+          "version": "7.6.4"
         },
         {
           "artifacts": [

diff --git a/3rdparty/requirements.txt b/3rdparty/requirements.txt
@@ -54,3 +54,4 @@ types-setuptools==74.1.0.20240907
 pydub-stubs==0.25.1.1
 opencv-stubs[opencv-contrib]==0.0.10
 lark==1.2.2
+pymodbus~=3.7.4
diff --git a/compose-files/ur-demo/docker-compose.lab.yml b/compose-files/ur-demo/docker-compose.lab.yml
@@ -1,7 +1,7 @@
 services:
   ur-demo-robot-api:
     environment:
-      - ROBOT_IP=192.168.104.149
+      - ARCOR2_UR_ROBOT_IP=192.168.80.2
     volumes:
       - ./robot_calibration.yaml:/root/robot_calibration.yaml
-    network_mode: host  # ObjectType has to connect to localhost:5012
+    network_mode: "host"  # ObjectType has to connect to localhost:5012
diff --git a/compose-files/ur-demo/docker-compose.sim.yml b/compose-files/ur-demo/docker-compose.sim.yml
@@ -19,14 +19,12 @@ services:
       - ursim-programs:/ursim/programs
   ur-demo-robot-api:
     environment:
-      - ROBOT_IP=ur-demo-ursim
-      - SLEEP=10
+      - ARCOR2_UR_ROBOT_IP=ur-demo-ursim
+      - ARCOR2_UR_STARTUP_SLEEP=10
     networks:
       - ur-demo-network  # ObjectType has to connect to ur-demo-ursim:5012
 
 volumes:
   ursim-gui-cache:
   urcap-build-cache:
-  ursim-programs:
-  ur-demo-asset:
-  ur-demo-execution:
+  ursim-programs:
diff --git a/compose-files/ur-demo/docker-compose.yml b/compose-files/ur-demo/docker-compose.yml
@@ -1,6 +1,6 @@
 services:
   ur-demo-robot-api:
-    image: arcor2/arcor2_ur:1.3.0
+    image: arcor2/arcor2_ur:1.4.0
     container_name: ur-demo-robot-api
     ports:
       - "5012:5012"
@@ -146,7 +146,7 @@ services:
       - ur-demo-asset
 
   ur-demo-upload-object-types:
-    image: arcor2/arcor2_ur_ot:1.3.0
+    image: arcor2/arcor2_ur_ot:1.4.0
     container_name: "ur-demo-upload-object-types"
     depends_on:
       ur-demo-project:

diff --git a/mypy.ini b/mypy.ini
@@ -139,3 +139,6 @@ ignore_missing_imports = True
 
 [mypy-ur_msgs.*]
 ignore_missing_imports = True
+
+[mypy-std_msgs.*]
+ignore_missing_imports = True
diff --git a/src/docker/arcor2_ur/BUILD b/src/docker/arcor2_ur/BUILD
@@ -1,2 +1,2 @@
 shell_source(name="start.sh", source="start.sh")
-docker_image(name="arcor2_ur", repository="arcor2/arcor2_ur", dependencies=[":start.sh", "build-support:install_ur_dependencies.sh"], image_tags=["1.3.0"])
+docker_image(name="arcor2_ur", repository="arcor2/arcor2_ur", dependencies=[":start.sh", "build-support:install_ur_dependencies.sh"], image_tags=["1.4.0"])
diff --git a/src/docker/arcor2_ur/Dockerfile b/src/docker/arcor2_ur/Dockerfile
@@ -1,22 +1,22 @@
-FROM ubuntu:24.04 AS deps
+FROM ubuntu:noble-20241011 AS deps
 COPY src.python.arcor2_ur.scripts/ur.pex /binary.pex
 RUN apt-get update && apt-get install -y -q --no-install-recommends \
     python3=3.12.3-0ubuntu2
 RUN PEX_TOOLS=1 python3 /binary.pex venv --scope=deps --compile /bin/app
 
-FROM ubuntu:24.04 AS srcs
+FROM ubuntu:noble-20241011 AS srcs
 COPY src.python.arcor2_ur.scripts/ur.pex /binary.pex
 RUN apt-get update && apt-get install -y -q --no-install-recommends \
     python3=3.12.3-0ubuntu2
 RUN PEX_TOOLS=1 python3 /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM ubuntu:24.04
+FROM ubuntu:noble-20241011
 
 ARG DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update && apt-get install -y -q --no-install-recommends \
     python3=3.12.3-0ubuntu2 \
-    curl=8.5.0-2ubuntu10.3 \
+    curl=8.5.0-2ubuntu10.4 \
     gnupg2=2.4.4-2ubuntu17 \
     lsb-release=12.0-2 \
     locales=2.39-0ubuntu8 \
@@ -42,12 +42,16 @@ RUN apt-get update \
         && /root/install_ur_dependencies.sh \
         && apt-get install -y -q --no-install-recommends \
         libglib2.0-0=2.80.0-6ubuntu3.1 \
-        libgomp1=14-20240412-0ubuntu1 libusb-1.0-0=2:1.0.27-1 \
+        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/*
 
 RUN echo "source /opt/ros/jazzy/setup.bash" >> /etc/bash.bashrc
 
+ENV ARCOR2_UR_TYPE=${ARCOR2_UR_TYPE}
+ENV ARCOR2_UR_ROBOT_IP=${ARCOR2_UR_ROBOT_IP}
+ENV ARCOR2_UR_STARTUP_SLEEP=${ARCOR2_UR_STARTUP_SLEEP}
+
 COPY src/docker/arcor2_ur/start.sh /root/start.sh
 RUN chmod +x /root/start.sh
 ENTRYPOINT ["/root/start.sh"]

diff --git a/src/docker/arcor2_ur/start.sh b/src/docker/arcor2_ur/start.sh
@@ -5,16 +5,16 @@ set -e
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 
-: "${UR_TYPE:=ur5e}"
+: "${ARCOR2_UR_TYPE:=ur5e}"
 
 # simulator needs some time to get running...
-if [[ -n "$SLEEP" && "$SLEEP" =~ ^[0-9]+$ ]]; then
-	echo "Waiting for $SLEEP seconds..."
-	sleep "$SLEEP"
+if [[ -n "$ARCOR2_UR_STARTUP_SLEEP" && "$ARCOR2_UR_STARTUP_SLEEP" =~ ^[0-9]+$ ]]; then
+	echo "Waiting for $ARCOR2_UR_STARTUP_SLEEP seconds..."
+	sleep "$ARCOR2_UR_STARTUP_SLEEP"
 fi
 
-cp --update=none "$(ros2 pkg prefix --share ur_description)/config/$UR_TYPE/default_kinematics.yaml" /root/robot_calibration.yaml
+cp --update=none "$(ros2 pkg prefix --share ur_description)/config/$ARCOR2_UR_TYPE/default_kinematics.yaml" /root/robot_calibration.yaml
 
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:="$UR_TYPE" robot_ip:="$ROBOT_IP" launch_rviz:=false kinematics_params_file:="/root/robot_calibration.yaml" &
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:="$ARCOR2_UR_TYPE" robot_ip:="$ARCOR2_UR_ROBOT_IP" launch_rviz:=false kinematics_params_file:="/root/robot_calibration.yaml" &
 
 PEX_EXTRA_SYS_PATH=/opt/ros/jazzy/lib/python3.12/site-packages PYTHONOPTIMIZE=1 /bin/app/pex
diff --git a/src/docker/arcor2_ur_ot/BUILD b/src/docker/arcor2_ur_ot/BUILD
@@ -1 +1 @@
-docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.3.0"])
+docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.4.0"])
diff --git a/src/python/arcor2_ur/CHANGELOG.md b/src/python/arcor2_ur/CHANGELOG.md
@@ -2,6 +2,14 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.4.0] - 2024-11-05
+
+### Changed
+
+- Ability to control OnRobot VGC10 suction through Modbus (requires [RS485 URCap](https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap) in the robot).
+- `ROBOT_IP` env. variable changed to `ARCOR2_UR_ROBOT_IP`.
+- `PUT /state/start` often failed because robot was not yet ready to start a program - added check for robot's state - however, it does not work at the moment. Until it is resolved, it is recommended to start the robot manually.
+
 ## [1.3.0] - 2024-10-01
 
 ### Changed
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.3.0"])
		docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.4.0"])