diff --git a/README.md b/README.md
index e8884e1c..45ce3db5 100644
--- a/README.md
+++ b/README.md
@@ -78,7 +78,7 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o
 
 [README](src/python/arcor2_dobot/README.md) | [CHANGELOG](src/python/arcor2_dobot/CHANGELOG.md)
 
- - 2024-02-20: [1.1.1](https://github.com/robofit/arcor2/releases/tag/arcor2_dobot%2F1.1.1) ([docker](https://hub.docker.com/r/arcor2/arcor2_dobot/tags?page=1&ordering=last_updated&name=1.1.1), [pypi](https://pypi.org/project/arcor2-dobot/1.1.1/)).
+ - 2024-03-26: [1.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_dobot%2F1.2.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_dobot/tags?page=1&ordering=last_updated&name=1.2.0), [pypi](https://pypi.org/project/arcor2-dobot/1.2.0/)).
 
 ### arcor2_execution
 
@@ -108,7 +108,7 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o
 
 [README](src/python/arcor2_fit_demo/README.md) | [CHANGELOG](src/python/arcor2_fit_demo/CHANGELOG.md)
 
-- 2024-03-25: [1.3.0](https://github.com/robofit/arcor2/releases/tag/arcor2_fit_demo%2F1.3.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_upload_fit_demo/tags?page=1&ordering=last_updated&name=1.3.0), [pypi](https://pypi.org/project/arcor2-fit-demo/1.3.0/)).
+- 2024-03-26: [1.4.0](https://github.com/robofit/arcor2/releases/tag/arcor2_fit_demo%2F1.4.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_upload_fit_demo/tags?page=1&ordering=last_updated&name=1.4.0), [pypi](https://pypi.org/project/arcor2-fit-demo/1.4.0/)).
   
 ### arcor2_kinect_azure
 
diff --git a/compose-files/fit-demo/docker-compose.yml b/compose-files/fit-demo/docker-compose.yml
index 89fe2075..5ce24043 100644
--- a/compose-files/fit-demo/docker-compose.yml
+++ b/compose-files/fit-demo/docker-compose.yml
@@ -98,7 +98,7 @@ services:
       - ./calibration.yaml:/root/calibration.yaml
 
   fit-demo-dobot-magician:
-    image: arcor2/arcor2_dobot:1.1.1
+    image: arcor2/arcor2_dobot:1.2.0
     container_name: fit-demo-dobot-magician
     depends_on:
       fit-demo-scene:
@@ -114,7 +114,7 @@ services:
       - ARCOR2_DOBOT_MODEL=magician
 
   fit-demo-dobot-magician2:
-    image: arcor2/arcor2_dobot:1.1.1
+    image: arcor2/arcor2_dobot:1.2.0
     container_name: fit-demo-dobot-magician2
     depends_on:
       fit-demo-scene:
@@ -130,7 +130,7 @@ services:
       - ARCOR2_DOBOT_MODEL=magician
 
   fit-demo-dobot-m1:
-    image: arcor2/arcor2_dobot:1.1.1
+    image: arcor2/arcor2_dobot:1.2.0
     container_name: fit-demo-dobot-m1
     depends_on:
       fit-demo-scene:
@@ -210,7 +210,7 @@ services:
       - fit-demo-asset
 
   fit-demo-upload-object-types:
-    image: arcor2/arcor2_upload_fit_demo:1.3.0
+    image: arcor2/arcor2_upload_fit_demo:1.4.0
     container_name: "fit-demo-upload-object-types"
     depends_on:
       fit-demo-project:
diff --git a/src/docker/arcor2_dobot/BUILD b/src/docker/arcor2_dobot/BUILD
index 6d660afc..1aad5e22 100644
--- a/src/docker/arcor2_dobot/BUILD
+++ b/src/docker/arcor2_dobot/BUILD
@@ -1 +1 @@
-docker_image(name="arcor2_dobot", repository="arcor2/arcor2_dobot", image_tags=["1.1.1"])
+docker_image(name="arcor2_dobot", repository="arcor2/arcor2_dobot", image_tags=["1.2.0"])
diff --git a/src/docker/arcor2_upload_fit_demo/BUILD b/src/docker/arcor2_upload_fit_demo/BUILD
index d6acba63..be6d5065 100644
--- a/src/docker/arcor2_upload_fit_demo/BUILD
+++ b/src/docker/arcor2_upload_fit_demo/BUILD
@@ -1 +1 @@
-docker_image(name="arcor2_upload_fit_demo", repository="arcor2/arcor2_upload_fit_demo", image_tags=["1.3.0"])
\ No newline at end of file
+docker_image(name="arcor2_upload_fit_demo", repository="arcor2/arcor2_upload_fit_demo", image_tags=["1.4.0"])
\ No newline at end of file
diff --git a/src/python/arcor2_dobot/CHANGELOG.md b/src/python/arcor2_dobot/CHANGELOG.md
index 963a3d0b..6aed3ed9 100644
--- a/src/python/arcor2_dobot/CHANGELOG.md
+++ b/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/),
 
+## [1.2.0] - 2024-03-26
+
+### Changed
+
+- Setting belt distance is now blocking operation.
+
 ## [1.1.1] - 2024-02-20
 
 ### Fixed
diff --git a/src/python/arcor2_dobot/VERSION b/src/python/arcor2_dobot/VERSION
index 8cfbc905..867e5243 100644
--- a/src/python/arcor2_dobot/VERSION
+++ b/src/python/arcor2_dobot/VERSION
@@ -1 +1 @@
-1.1.1
\ No newline at end of file
+1.2.0
\ No newline at end of file
diff --git a/src/python/arcor2_dobot/dobot.py b/src/python/arcor2_dobot/dobot.py
index dd675462..c6ef402e 100644
--- a/src/python/arcor2_dobot/dobot.py
+++ b/src/python/arcor2_dobot/dobot.py
@@ -83,8 +83,11 @@ def conveyor_speed(self, speed: float, direction: int = 1) -> None:
         if not self.simulator:
             self._dobot.conveyor_belt(speed, direction)
 
-    def conveyor_distance(self, speed: float, distance: float, direction: int = 1) -> None:
-        self._dobot.conveyor_belt_distance(speed, distance, direction)
+    def conveyor_distance(self, speed: float, distance: float, direction: int = 1, blocking=True) -> None:
+        idx = self._dobot.conveyor_belt_distance(speed, distance, direction)
+
+        if blocking:
+            self._dobot.wait_for_cmd(idx)
 
     @property
     def hand_teaching_mode(self) -> bool:
diff --git a/src/python/arcor2_dobot/dobot_api.py b/src/python/arcor2_dobot/dobot_api.py
index 2226d0fe..e9eb5118 100644
--- a/src/python/arcor2_dobot/dobot_api.py
+++ b/src/python/arcor2_dobot/dobot_api.py
@@ -711,11 +711,11 @@ def _set_stepper_motor(self, speed: int, interface: int = 0, motor_control=True)
         msg.params.extend(bytearray(struct.pack("i", speed)))
         return self._send_command(msg)
 
-    def conveyor_belt_distance(self, speed: float, distance: float, direction: int = 1, interface: int = 0) -> None:
+    def conveyor_belt_distance(self, speed: float, distance: float, direction: int = 1, interface: int = 0) -> int:
         if 0.0 <= speed <= 100.0 and (direction == 1 or direction == -1):
             motor_speed = speed * STEP_PER_CIRCLE / MM_PER_CIRCLE * direction
             steps = (distance * STEP_PER_CIRCLE / MM_PER_CIRCLE) / HUNGARIAN_CONSTANT
-            self._set_stepper_motor_distance(int(motor_speed), int(steps), interface)
+            return self._extract_cmd_index(self._set_stepper_motor_distance(int(motor_speed), int(steps), interface))
         else:
             raise DobotApiException("Wrong conveyor belt parameters.")
 
diff --git a/src/python/arcor2_fit_demo/CHANGELOG.md b/src/python/arcor2_fit_demo/CHANGELOG.md
index 5f8769ee..02c71dcf 100644
--- a/src/python/arcor2_fit_demo/CHANGELOG.md
+++ b/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/),
 
+## [1.4.0] - 2024-03-26
+
+### Changed
+
+- Minor changes to ObjectTypes.
+
 ## [1.3.0] - 2024-03-25
 
 ### Added
diff --git a/src/python/arcor2_fit_demo/VERSION b/src/python/arcor2_fit_demo/VERSION
index 589268e6..e21e727f 100644
--- a/src/python/arcor2_fit_demo/VERSION
+++ b/src/python/arcor2_fit_demo/VERSION
@@ -1 +1 @@
-1.3.0
\ No newline at end of file
+1.4.0
\ No newline at end of file
diff --git a/src/python/arcor2_fit_demo/object_types/conveyor_belt.py b/src/python/arcor2_fit_demo/object_types/conveyor_belt.py
index c660b58b..922e70eb 100644
--- a/src/python/arcor2_fit_demo/object_types/conveyor_belt.py
+++ b/src/python/arcor2_fit_demo/object_types/conveyor_belt.py
@@ -11,8 +11,8 @@
 
 
 class Direction(StrEnum):
-    FORWARD: str = "forward"
-    BACKWARDS: str = "backwards"
+    LEFT: str = "left"
+    RIGHT: str = "right"
 
 
 @dataclass
@@ -45,7 +45,7 @@ def __init__(
                 raise Arcor2Exception("Failed to connect to the Dobot Service.")
 
     def set_velocity(
-        self, velocity: float = 0.5, direction: Direction = Direction.FORWARD, *, an: None | str = None
+        self, velocity: float = 0.5, direction: Direction = Direction.RIGHT, *, an: None | str = None
     ) -> None:
         """Belt will move indefinitely with given velocity.
 
@@ -69,7 +69,7 @@ def set_distance(
         self,
         velocity: float = 0.5,
         distance: float = 0.55,
-        direction: Direction = Direction.FORWARD,
+        direction: Direction = Direction.RIGHT,
         *,
         an: None | str = None,
     ) -> None:
diff --git a/src/python/arcor2_fit_demo/object_types/erp.py b/src/python/arcor2_fit_demo/object_types/erp.py
index 6cfafabe..fb3b35c7 100644
--- a/src/python/arcor2_fit_demo/object_types/erp.py
+++ b/src/python/arcor2_fit_demo/object_types/erp.py
@@ -9,10 +9,9 @@ class Erp(Generic):
 
     _ABSTRACT = False
 
-    def log_production_step(self, step: str, success: bool, *, an: None | str = None) -> None:
-        """Logs finished production step.
+    def log_production_step(self, success: bool = True, *, an: None | str = None) -> None:
+        """Logs finished production step (described by action name).
 
-        :param step: Name of the production step.
         :param success: Indicates whether the step was successful.
         :param an:
         :return: